Electronics Components and Sensor Modelling
AGRIBOT has been developed with the aim of huge scope in the Agricultural field. Through this project, Engineers, roboticists, and scientists can explore and help Agricultural sectors for efficient quality products. With the same aim, we try to build robust, low cost and efficient prototype to solve problems. Here is the list of specifications and Technical attributes of AGRIBOT.
| Spec./ Attributes | Value |
|---|---|
| Weight | 7 Kg (without components) |
| Dimensions | (65,65,40) cm^3 |
| Battery(Lead Acid) | 7Ah,7C,12V,1.4A max initial current |
| Nvidia Jetson Nano | 4GB Memory, Quadcore Arm A57 CPU, 128 core Maxwell GPU |
| GPS | UBLOX M8N GPS receiver |
| MPU 9265 | 3 axis, 9 DOF Accelerometer, Gyroscope & Magnetometer |
| RPI 2 Camera | Sony IMX219 8-megapixel sensor |
| DC Geared Motor | Cytron 30RPM, 12V, 12Kgcm |
| Memory Card | 64 GB for Jetson |
| Cytron Motor Driver | Cytron 10A |
| Controller | Arduino Mega |
Note: Due to COVID-19 we couldn't able to validate our design in realtime scenario, so we have simulated sensor data to work with our prototype with the help of Gazebo plugins.
We have modelled 4 sensors such as GPS, IMU, Magnetometer, Camera. Parameters are taken from hector gazebo packages. For more details of how to model different sensors and error model, refer our report at Documents/G-13 UG Project Report.pdf in the repository. For details about plugins refer Gazebo tutorials & hector_gazebo_pkg. Simulated results are attached below.
