Spider Lawn Mower Automation Design

Autoři:Plascencia Alfredo C., Beran Vítězslav
Typ:vyvíjený produkt
Vznik:2017
Licence:vyžadována - zdarma
Soubory: 
Soubor /product/521/project_description.pdf nemáte právo číst:
/product/521/project_description.pdf nemáte právo číst
Klíčová slova:lawn mower robot, non-linear control, sensory system, robot navigation
Popis:
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.

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