Publication Details

Working Progress Towards Lawn Mower Automation

BERAN Vítězslav, PLASCENCIA Alfredo C. and ROZMAN Jaroslav. Working Progress Towards Lawn Mower Automation. In: Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics. Setúbal: SciTePress - Science and Technology Publications, 2020, pp. 99-108. ISBN 978-989-758-442-8.
Czech title
Posun k automatizaci sekačky na trávu
Type
conference paper
Language
english
Authors
Keywords

Mobile Robot, Nonlinear Control, Path Planning

Abstract

This paper is a working progress towards an automation of the Spider lawn mower (SLM) which is a four synchronized steering wheel mobile robot. During the functioning, the SML must follow cutting grass edge with no overlapping of a strip of cut grass and also satisfy slippage constrains. To this end, a small prototype called Andromina which is a four-independent steering wheel mobile robot has been chosen to verify the control approach. This paper proposes to implement a mathematical model that takes into account the kinematics and dynamics of the mobile robot and also a nonlinear control strategy like the state feedback linearization. The most important advantage of the proposed model-control strategy is that it takes into account the nonlinearities of the system and a control law becomes a linear one. The path following tracking error has been verified by the statistical approach called analysis t-test and also results of real data simulations have shown the effectiveness of the proposed control strategy applied to a four-independent steering nonholonomic wheeled mobile robot.

Published
2020
Pages
99-108
Proceedings
Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics
Conference
International Conference on Informatics in Control, Automation and Robotics, Online, FR
ISBN
978-989-758-442-8
Publisher
SciTePress - Science and Technology Publications
Place
Setúbal, PT
DOI
UT WoS
000614134300010
EID Scopus
BibTeX
@INPROCEEDINGS{FITPUB12070,
   author = "V\'{i}t\v{e}zslav Beran and C. Alfredo Plascencia and Jaroslav Rozman",
   title = "Working Progress Towards Lawn Mower Automation",
   pages = "99--108",
   booktitle = "Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics",
   year = 2020,
   location = "Set\'{u}bal, PT",
   publisher = "SciTePress - Science and Technology Publications",
   ISBN = "978-989-758-442-8",
   doi = "10.5220/0008924300990108",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/12070"
}
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