Cooperating (Agro) Robots

Semester programme:

ICT & Technology

Project group members:

Thierry Zinkeng
Omar Shekho
Thomas Kuijs
Tijn Losekoot

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Project description

Create a system for letting multiple Turtlebot 3 robots cooperate. Realise this using behavior trees and ROS (Robot Operating System) 2.

Context

The company Lely produces robots to aid in dairy farming. Among those are cleaning robots which clean the cow stables of manure and other dirt. FHICT works together with other institution like the HAN to attempt to realise this.
Because we could not work with actual existing cleaning robots, we had to use Turtlebot 3 robots to create a prototype for this.

Results

We gained great insight into ROS2 and Behavior Trees.
At the start of the semester, there was barely any knowledge on these two technologies, not even the teachers knew much.
Throughout the semester we managed to learn quite a lot about Behavior Trees and ROS2, and implemented behavior for one of our robots.
We have also realised a simple fleet manager for sending tasks to robots, which the robot will accept and perform when they are recieved.

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ICT & Technology