Autonomous Inventory Detection Robot
Features An inventory detection Robotic system for warehouses using ROS and PID line following. It detects the line using computer vision techniques, to keep the system fast and responsive. This system was aimed at SMEs due to the cheap operating nature of the system.
Line detection using HSI, closing Morph operation,
Gaussian Blur, colour mask
error detection + PID (Zieger-Nicholas tuned)
YOLOv8n tuned on custom inventory selection
Position detection using line aspect ratio, to stop and turn + capture an image of inventory
Output displaying number of positions, inventory detected at each position and overall + confidence score.
Components
Turtlebot (raspberryPi, OpenCR cortex, 2 x Dynamixel motor, computer webcam, LiPo battery)
ROS Noetic
Python
CMake
4 ROS nodes (USB_cam, Robot_controller, Turtlebot_core, Turtlebot_Diagnostics)
Repo