Working Progress Towards Lawn Mower Automation

Working Progress Towards Lawn Mower Automation

Paper in proceedings (conference paper)

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.

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.

Mobile Robot, Nonlinear Control, Path Planning

Mobile Robot, Nonlinear Control, Path Planning

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

2023

07.07.2020

SciTePress - Science and Technology Publications

Setúbal

978-989-758-442-8

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

99

108

10

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

http://hdl.handle.net/

ICINCO2020