This project is developed during the E-Yantra 2023 competition hosted by E-Yantra Labs, IIT Bombay.
The Krishi Bot theme was aimed at developing a ROS and Moveit! based software stack for an agricultural robot to allow it to navigate the field, identify ripe fruits and pluck and store them autonomously.
I personally worked on the navigation stack where we used a custom wall following algorithm for autonomously travelling around the arena. I also developed a colour filtering algorithm for detecting red and yellow peppers throught a camera mounted on the robotic arm.