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International Conference on Communication and Intelligent Systems

ICCIS 2022: Communication and Intelligent Systems pp 619–630Cite as

Object Detection by Tiny-YOLO on TurtleBot3 as an Educational Robot

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Part of the Lecture Notes in Networks and Systems book series (LNNS,volume 689)

Abstract

By the unceasing efforts of many scientists, machine learning algorithms are increasing quickly with an enhanced object detection performance for the explicit applications on specific devices. This paper investigates the operation of TurtleBot3 as an educational wheeled autonomous robot which Tiny-YOLO algorithm has been applied as a novel application on it. At first, the required knowledge about the kinematics and dynamics of a differential drive robot with constraints is studied, and a graph where the robot is working under some specific conditions is plotted. The robot operating system (ROS) and simultaneous localization and mapping (SLAM) of the TurtleBot3 have been explained. The robot is equipped with a LiDAR sensor and a camera embedded onto it as a sensor fusion SLAM for a more precise type of mapping. Finally, Tiny-YOLO as a machine learning algorithm for object detection is implemented based on the fact that Raspberry Pi could not handle the full YOLO due to its memory capacity limitation, and the results are discussed.

Keywords

  • TurtleBot3
  • Machine learning
  • Tiny-YOLO
  • SLAM
  • ROS

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Author information

Authors and Affiliations

  1. Institute for Nanomaterials, Advanced Technologies and Innovation, Technical University of Liberec, Liberec, Czech Republic

    Reza Moezzi & Jindrich Cyrus

  2. Faculty of Mechatronics, Informatics and Interdisciplinary Studies, Technical University of Liberec, Liberec, Czech Republic

    Reza Moezzi & Jaroslav Hlava

  3. Faculty of Electrical Engineering and Computer Science, Görlitz University of Applied Sciences, Zittau, Germany

    Adrian Saw & Stefan Bischoff

Authors
  1. Reza Moezzi
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  2. Adrian Saw
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  3. Stefan Bischoff
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  4. Jindrich Cyrus
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  5. Jaroslav Hlava
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Corresponding author

Correspondence to Reza Moezzi .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, Rajasthan Technical University, Kota, India

    Harish Sharma

  2. National Institute of Technology Delhi, New Delhi, India

    Vivek Shrivastava

  3. PDPM Indian Institute of Information Technology, Design and Manufacturing, Jabalpur, Madhya Pradesh, India

    Kusum Kumari Bharti

  4. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore

    Lipo Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Moezzi, R., Saw, A., Bischoff, S., Cyrus, J., Hlava, J. (2023). Object Detection by Tiny-YOLO on TurtleBot3 as an Educational Robot. In: Sharma, H., Shrivastava, V., Bharti, K.K., Wang, L. (eds) Communication and Intelligent Systems. ICCIS 2022. Lecture Notes in Networks and Systems, vol 689. Springer, Singapore. https://doi.org/10.1007/978-981-99-2322-9_47

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