A cost-effective autonomous agricultural robot designed to automate soil tilling using ROS 2, GPS localization, and LiDAR-based obstacle avoidance.
The ATR is a hybrid robotic system combining:
- Mechanical tilling using a 2-stroke engine
- Autonomous navigation using ROS 2 Humble
- Obstacle avoidance using RPLiDAR
- Localization using NEO-6M GPS
- Automate soil tilling process
- Reduce manual labor
- Enable precision agriculture
- Implement real-time obstacle avoidance
- Develop a scalable autonomous farming platform
- Raspberry Pi 4B (ROS 2)
- ESP32 / Arduino (motor control)
- 24V LiFePO4 battery
- Buck converters for subsystems
- Rear-wheel drive (24V DC motor)
- Chain transmission
- 2-stroke petrol engine
- Front-mounted blades
| Sensor | Purpose |
|---|---|
| RPLiDAR | Obstacle detection |
| NEO-6M GPS | Localization |
| IMU | Orientation |
| Encoders | Odometry |
- ROS 2 Humble
- Python / C++
- Nav2 (planned)
- Web Interface (planned)
- GPS-based navigation
- LiDAR obstacle detection (30° tilt)
- Servo-based throttle control
- Linear actuator for tool control
- Remote monitoring interface (planned)
- ✅ Mechanical system completed
- ✅ Throttle control system working
- ✅ LiDAR detection functional
- ✅ GPS data acquisition working
- 🚧 Navigation and obstacle avoidance under development
- Complete steering system
- Full GPS navigation
- Autonomous path planning
- Web-based control dashboard
- Sensor fusion (EKF)
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Josiah Saji Robotics Society — Saintgits College