Patrolling Trash-Collecting Robot Documentation

Contributors

• Ethan Oh

• Marvin Gao

• Ritwik Rohan

• Suhash Reddy Thandheri

Project Documentation

• Overview of Patrolling Trash-Collecting Robot
  • Overview
  • Software Environment
  • Hardware Used
  • Simulation Environment
  • Installation Instructions
  • Common Setup
  • Running the System
• Simulation Deliverables
  • Simulated Functionality (sim branch)
• Real-World Deployment (real branch)
  • TurtleBot4 Setup
  • SLAM - Generating a map
  • Localization, Navigation, and Patrolling
  • Hand-Eye Calibration (real branch)
  • ArUco Detection and Approaching
  • Pick and Place
  • Trash Actions - Approach, Pick, and Place

Project Overview

The Patrolling Trash-Collecting Robot project aims to develop an autonomous mobile robot equipped with a robotic arm designed to patrol designated areas, detect and collect trash, and deposit it into a designated trash receptacle. The robot combines advanced navigation techniques, real-time object detection, precise manipulation, and robust mapping capabilities to autonomously maintain cleanliness and environmental hygiene.

Key Functionalities:

• Autonomous Navigation and Mapping (Nav2)

• Eye-Hand Calibration

• Real-time Trash Detection and Tracking (TF frames)

• Object Segmentation and Pose Estimation (Point Cloud Analysis)

• Robotic Arm Manipulation (MoveIt2, Pick-and-Place)