Title

AUTONOMOUS FRUIT PICKING WITH A TEAM OF AERIAL MANIPULATORS

Abstract

Abstract

Manipulation is the ultimate capability for autonomous micro unmanned aerial vehicles
(MAVs), which would enable a substantial number of novel use-cases. Precision
agriculture is such a domain with plenty of practical problems that could utilize aerial
manipulation, which is faster with respect to ground manipulation. Apple harvesting
is the most prominent use case with ever-growing percentages in the overall apple
production costs due to increasing imbalance between labour supply and demand.
Moreover, contemporary industrial UGVs equipped with arms still strive to compete
against human labor financially, which is not the case for relatively cheaper aerial manipulators.
Nevertheless, the dynamics of the aerial manipulator is significantly more
convoluted when compared to plain quadrotors and thus demand a more sophisticated
control pipeline. In this thesis, a brief dynamics analysis on the airframe with a
3 DOF manipulator is conducted and subsequently an appropriate autopilot software
with an adequately stable control pipeline -PX4- is selected. Thereafter RRT path
planning algorithm family, followed by its multi-robot variant sRRT, which uses subdimensional
expansion framework, is introduced. Then the inverse kinematics of 3D arm is introduced, which is used alongside with the local1 planner in fruit picking.
Consecutively a supervised apple detection model based on Mask R-CNN and Data
Distillation with real-time capable inference is developed. At the end, multi-robot
apple picking scenario is realized and the integration of these submodules is verified
in simulation.

Supervisor(s)

Supervisor(s)

TAHSINCAN KOSE

Date and Location

Date and Location

2021-09-07 13:30:00

Category

Category

MSc_Thesis