Bin picking code - Semi-autonomous Behaviour Tree-Based Framework For Sorting Electric Vehicle Batteries Waste

The process of recycling electric vehicle (EV) batteries currently represents a significant challenge to the waste management automation industry. One example of it is the necessity of removing and sorting dismantled components from EV battery pack. This paper proposes a novel framework to semi-automate the process of grasping and sorting four different objects from an EV battery pack using a mobile manipulator. The work exploits the behaviour trees model for cognitive task execution and monitoring which links different robot capabilities such as navigation, object tracking and motion planning in a modular fashion. The framework was tested in simulation in dynamic environment using two different case studies and it was evaluated based on task-time and the number of objects that the robot successfully place in the respective containers. A total task achievement of ~95\% and ~82\% was reached for the two case studies.