Publication detail

Working Progress Towards Lawn Mower Automation

PLASCENCIA, A. BERAN, V. ROZMAN, J.

Original Title

Working Progress Towards Lawn Mower Automation

Type

conference paper

Language

English

Original 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 withno overlapping of a strip of cut grass and also satisfy slippage constrains. To this end, a small prototype calledAndromina which is a four-independent steering wheel mobile robot has been chosen to verify the controlapproach. This paper proposes to implement a mathematical model that takes into account the kinematics anddynamics of the mobile robot and also a nonlinear control strategy like the state feedback linearization. Themost important advantage of the proposed model-control strategy is that it takes into account the nonlinearitiesof the system and a control law becomes a linear one. The path following tracking error has been verified bythe 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 mobilerobot.

Keywords

Mobile Robot, Nonlinear Control, Path Planning

Authors

PLASCENCIA, A.; BERAN, V.; ROZMAN, J.

Released

7. 7. 2020

Publisher

SciTePress - Science and Technology Publications

Location

Setúbal

ISBN

978-989-758-442-8

Book

Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics

Pages from

99

Pages to

108

Pages count

10

URL

https://www.fit.vut.cz/research/publication/12070/

BibTex

@inproceedings{BUT179024,
  author="Alfredo {Chavez Plascencia} and Vítězslav {Beran} and Jaroslav {Rozman}",
  title="Working Progress Towards Lawn Mower Automation",
  booktitle="Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics",
  year="2020",
  pages="99--108",
  publisher="SciTePress - Science and Technology Publications",
  address="Setúbal",
  doi="10.5220/0008924300990108",
  isbn="978-989-758-442-8",
  url="https://www.fit.vut.cz/research/publication/12070/"
}

Documents

ICINCO2020.pdf