Localization Stack for a 4WD Drive Robot

Association - TIH Foundation for IoT & IoE, IIT Bombay

Centered Iframe

Application:

This project is being carried out in collaboration with the NRCG (National Research Centre for Grapes) to build an autonomous vehicle capable of doing under-canopy inspections in a grapes field.

Description:

  • The objective of the first part was to demonstrate Nvidia Jetson Nano's on-board computing capabilities by running a SLAM algorithm and communicating with the RPI Pico W microcontroller over Wi-Fi.
  • The second part focussed on upgrading the Localization stack by fusing sensor data from IMU, LiDAR, quadrature wheel encoders.
    • Establishing duplex communication between Nvidia Jetson Nano and RPI Pico W microcontroller over Wi-Fi.
    • Odometry calculation using IMU and wheel encoder sensors.
Figure 1:Overview of the system configuration.