General information
Team name: | Tanktastic |
Institution: | University Hohenheim |
Department: | Agriculture |
Contact: | This email address is being protected from spambots. You need JavaScript enabled to view it. |
Team details
Mentors: | David Reiser |
Members: | Robert Hübner |
Robot – basic information
Web page: |
http://mpt-internal.uni-hohenheim.de/doku.php?id=robots:agsmr:welcome |
||
Dimensions: (W ×L ×H) |
520 x 600 x 400 mm | ||
Weight: | 40 kg | ||
Num. of wheels: | 4 | Turning radius: | 0 |
Rain resistance: | Light rain |
Robot – mechanical details
Drive concept: | One motor for every wheel |
Steering: | Differential steering |
Special characteristics: | Fixed chassis |
Robot – electrical details
Powered by: | 4 x 12V 12 Ah lead storage battery | |||
Motors: | 4 x Buehler Gear Motor 70 x 129 type:1.61.050.443 | |||
Controller: | cpu (i3-2120 4x 3.3 GHz), ssd hd (64 GB, 6Gb/s), ddr3 ram (8 GB) | |||
Sensors: | Camera: | X | Compass: | - |
Ultrasonic: | - | Gyroscope: | x | |
Infrared: | Camera | Accelerometer: | x | |
Laser: | X | Mechanical: | x | |
Other: | Kinect V1.0 | |||
Communication: | Ethernet & USB |
Robot – Software
Operating system: | Linux Ubuntu and ROS |
Programed in: | C/C++ |
Tools: | Geany, Catkin, Cmake, … |
Other: |
Robot – Strategy
1st task: | Use laserscanners and IMU for navigation |
2nd task: | Detect rows and obstacles with laserscanner |
3rd task: | Use a Kinect Sensor HD Kamera for the detection of the plants |
Free style: | Detect, collect and map existing iron on a given field |
Robot – Investment
Work hours: | 160 h |
Components: | A lot… |
Other: | |
Sponsored by: | MPT, University Hohenheim, Mädler |
Problems / Challenges
Robot needs precise row navigation, because of its size. The maximum speed of the robot is to slow to reach the end of the crop rows in the tasks |
Other