This project is about making a prototype fence inspection mobile robot to detect holes in fences along an airport. The mobile robot platform used is the SDU Frobit seen below.
| The prototype platform SDU Frobit |
|---|
 |
The project can both run in ros-gazebo simulation and on the frobit itself in real life.
Due to LIDAR limits the frobit was not able to detect lines along an fence. However it could detect lines a more dense structure such as a building. The frobit driving using the PID controller as distance control is illustrated below.
| Straight section | Corner section | Fence following |
|---|---|---|
 |
 |
 |
| Dog-bone map ICO | Square map ICO | Airport map ICO |
|---|---|---|
 |
 |
 |
The vision folder contains the different algorithm used to detect holes in the fence. Below is a small example of one of the nueral network for hole detection.
| YOLOv5 sim example | YOLOv5 real example |
|---|---|
 |
 |