Code repository for Project Dexter , an AGV with a 5 DoF Robotic Arm Dexter is mobile manipulation platform which has applications in Warehouse and Office Inventory Management. In the first protoype we aim to demonstrate autonomous navigation in unknown environment with obstacle avoidance. It will then pick a target object and transport it to the goal point. We are also looking for field applications of Dexter with GPS integration and teleoperation.
##First Prototype
###Autonomous Navigation
- We use Navigation stack on ROS for autonomous Navigation
- Onboard Kinect provides 3D maps and RGB feed.
- Tweaked parameters in RTABMAP to obtain faster mapping and robot localization
- RPLidar( a 2D laser scanner) provides range data upto 6m
- Wheel encoders, visual Odometry, IMU sensor data are published to robot_localization which fuses sensor data using Extended Kalman Filters
- IR sensors by SHARP plced for emergency stop if obstacle is detected.
- A complete GUI on RViz to for waypoint navigation and teleoperation,with windows for camera feed, 2D map
- GPS integration for outdoor navigation.
- Laptop with 4th gen Intel i7 processor
###Robotic Manipulator
- 4 DoF Robotic Arm, actuated with high torque metal gear servos.
- Custom 3D printed gripper.
- 0.3 Kg payload capacity
- Teleoperation and Autonomous modes for object picking and placing
- Moveit integrationfor Motion Planning .Complete robot description in the URDF file
###Database and Inventory Management
- Database setup using SQL
- A complete GUI for remote operator for remote picking and placing objects.
- Automatic inventory list updated after every pick and place.