Publication Details

Working Progress Towards Lawn Mower Automation

PLASCENCIA, A.; BERAN, V.; ROZMAN, J. 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. p. 99-108. ISBN: 978-989-758-442-8.
Czech title
Posun k automatizaci sekačky na trávu
Type
conference paper
Language
English
Authors
Chavez Plascencia Alfredo, Ph.D.
Beran Vítězslav, doc. Ing., Ph.D. (DCGM)
Rozman Jaroslav, Ing., Ph.D. (DITS)
and others
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
ISBN
978-989-758-442-8
Publisher
SciTePress - Science and Technology Publications
Place
Setúbal
DOI
UT WoS
000614134300010
EID Scopus
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/"
}
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