Team LEO‒Poland
Team members
Robert Florek, Błażej Rosół, Paweł Szerszeń
Team captain’s name
Błażej Rosół
Instructor(s)
mgr inz. Robert Florek, Complex of Agricultural Schools in Żarnowiec Poland
Participating in the FRE since
‒
Description of the team and robot
Our team consists of students of the Technical School of Mechanization of Agriculture and Agrotronics. They are interested in the application of new technologies and robots in agricultural production. They also run farms where they want to use new solutions for the production of healthy food in the future.
Our robot is controlled by a Raspberry Pi computer, with the Rasberian + ROS system. For autonomous driving, we used a camera and software written in Python that detects rows of plants (corn). The rover has 4 wheels, which are driven by a separate engine. We used MATLAB software to distinguish objects.
Robot specifications
W x L x H (cm):
44.5x42.4x30.0
Weight (kg):
7
Commercial or prototype:
-
Total no. of wheels / no. driven wheels:
4
Drivetrain concept/ max. speed (m/s):
0.4 m/s linea
Turning radius (cm):
-
Battery type / capacity (Ah):
12.6V 2A Li-ion charger
Total motor power (W):
12 W x 4 motor
No. of sensors internal/
external:
Sensor type:
Camera, lidar
Controller system software description:
The ride is carried out using image analysis from a camera installed on the robot.
Controller system hardware description:
- Raspberry Pi 5 - A single-board computer developed by Raspberry Pi Ltd.
- Camera Arducam 12.3MP 477M HQ Camera Module for Raspberry Pi with 158°(D) M12 Wide Angle Lens.
- Bühler Motors 1.61.077.414 - x4
- Equipped with an STM32F401 microcontroller
Short strategy description for navigation and applications:
- cfg/ColorMask.cfg – A ROS1-specific file defining dynamic parameters.
- CMakeLists.txt – A file with package building instructions (standard ROS configuration).
- config/corn.yaml – A configuration file with color mask values. The parameters were experimentally selected in a corn field to maximize crop detection while filtering out noise (weeds, grass, and other unwanted vegetation).
- config/field_rider.yaml – The main configuration of the driving program.
- launch/color_mask.launch – A launch file for the color mask calibration tool.
- launch/field_rider.launch – Launch file for the row-riding algorithm. o Arguments
- scripts/color_mask.py – Source code for the program used to find and calibrate the color mask value.
- scripts/field_rider.py – Source code for the control logic responsible for autonomous row-riding.
These are the commercial team sponsors & partners:
-