Department of Computer Graphics and Multimedia
Spider Lawn Mower Automation Design
|Authors:||Plascencia Alfredo C., Beran Vítězslav|
|Licence:||required - no fee|
|Keywords:||lawn mower robot, non-linear control, sensory system, robot navigation|
|This project proposal describes the automation of a four steering wheel lawn mower robot called spider lawn mower SLM robot. The SLM faces four issues studied in this research: slippage conditions and cutting grass edge following, multi-mobile robot formation control, a body detection within the grass in front of the robots path and auto-repeating the same known tasks.|
To this end, a mathematical model that takes into account the kinematics and dynamics of the SLM is proposed: state feedback linearization is designed as a control strategy to tackle the nonlinearities of the system, implemented and tested.