Publication Details
Working Progress Towards Lawn Mower Automation
Plascencia Alfredo C., Ph.D. (DCGM FIT BUT)
Rozman Jaroslav, Ing., Ph.D. (DITS FIT BUT)
Mobile Robot, Nonlinear Control, Path Planning
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.
@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" }