Publication Details
Working Progress Towards Lawn Mower Automation
Beran Vítězslav, doc. Ing., Ph.D. (DCGM)
Rozman Jaroslav, Ing., Ph.D. (DITS)
and others
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{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/"
}