Working Progress towards Lawn Mower Automation

Alfredo Plascencia, Vítězslav Beran, Jaroslav Rozman, Aguilar Armando

2020

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.

Paper Citation

in Harvard Style

Plascencia A., Beran V., Rozman J. and Armando A. (2020). Working Progress towards Lawn Mower Automation.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 99-108. DOI: 10.5220/0008924300990108

in Bibtex Style

@conference{icinco20,
author={Alfredo Plascencia and Vítězslav Beran and Jaroslav Rozman and Aguilar Armando},
title={Working Progress towards Lawn Mower Automation},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={99-108},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008924300990108},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Working Progress towards Lawn Mower Automation
SN - 978-989-758-442-8
AU - Plascencia A.
AU - Beran V.
AU - Rozman J.
AU - Armando A.
PY - 2020
SP - 99
EP - 108
DO - 10.5220/0008924300990108