TY - GEN
T1 - An Autonomous Irrigation Robot Based on ROS2, YOLOv8 and Distributed ESP32 WMN Architecture
AU - Fang, Yisu
AU - Hafizh, Hadyan
AU - Ateeq, Muhammad
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper presents the design and implementation of an autonomous indoor houseplant irrigation robot operating under the ROS2 framework. The robot prototype integrates locomotion, water delivery, power management, sensors, and high-level control systems. A YOLOv8-based vision system, trained on a custom houseplant dataset, detects and localizes plants for precise irrigation. Robot localization and mapping use ROS2 SLAM Toolbox with 2D LIDAR, for autonomous navigation and irrigation via ROS2's N av2 path planning. Wireless communication is achieved through an ad-hoc mesh network connecting the main computer with distributed microcontrollers. The prototype demonstrates key autonomous functions, as well as acknowledging limitations, presenting opportunities for future enhancements to improve robustness and practical applicability in home automation.
AB - This paper presents the design and implementation of an autonomous indoor houseplant irrigation robot operating under the ROS2 framework. The robot prototype integrates locomotion, water delivery, power management, sensors, and high-level control systems. A YOLOv8-based vision system, trained on a custom houseplant dataset, detects and localizes plants for precise irrigation. Robot localization and mapping use ROS2 SLAM Toolbox with 2D LIDAR, for autonomous navigation and irrigation via ROS2's N av2 path planning. Wireless communication is achieved through an ad-hoc mesh network connecting the main computer with distributed microcontrollers. The prototype demonstrates key autonomous functions, as well as acknowledging limitations, presenting opportunities for future enhancements to improve robustness and practical applicability in home automation.
KW - Computer Vision
KW - Embedded Systems
KW - Internet of Things
KW - Machine Learning
KW - Robotics
KW - Wireless Sensor Network
UR - http://www.scopus.com/inward/record.url?scp=85216587968&partnerID=8YFLogxK
U2 - 10.1109/SmartIoT62235.2024.00065
DO - 10.1109/SmartIoT62235.2024.00065
M3 - Conference Proceeding
AN - SCOPUS:85216587968
T3 - Proceedings - 2024 IEEE International Conference on Smart Internet of Things, SmartIoT 2024
SP - 384
EP - 391
BT - Proceedings - 2024 IEEE International Conference on Smart Internet of Things, SmartIoT 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Smart Internet of Things, SmartIoT 2024
Y2 - 14 November 2024 through 16 November 2024
ER -