Path planning for autonomous lawn mower tractor (original) (raw)
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Development of a Path Generation and Tracking Algorithm for a Korean Auto-guidance Tillage Tractor
Journal of Biosystems Engineering, 2013
Path planning and tracking algorithms applicable to various agricultural operations, such as tillage, planting, and spraying, are needed to generate steering angles for auto-guidance tractors to track a point ahead on the path. An optimal coverage path algorithm can enable a vehicle to effectively travel across a field by following a sequence of parallel paths with fixed spacing. This study proposes a path generation and tracking algorithm for an auto-guided Korean tractor with a tillage implement that generates a path with C-type turns and follows the generated path in a paddy field. A mathematical model was developed to generate a waypoint path for a tractor in a field. This waypoint path generation model was based on minimum tractor turning radius, waypoint intervals and LBOs (Limit of Boundary Offsets). At each location, the steering angle was calculated by comparing the waypoint angle and heading angle of the tractor. A path following program was developed with Labview-CVI to automatically read the waypoints and generate steering angles for the tractor to proceed to the next waypoint. A feasibility test of the developed program for real-time path tracking was performed with a mobile platform traveling on flat ground. The test results showed that the developed algorithm generated the desired path and steering angles with acceptable accuracy.
2010
Some problems of investigation of tractor guidance system and seeder of precision farming using GPS are discussed. A tractor guidance system is developed to support the operator to control the tractor trucking the target line in the field for plowing, fertilizing, pesticide spraying, sowing, harvesting, manuring ,etc. In the system, an alternative integration solution basing on standard 2 Kalman Filter (KF) [1] algorism was developed. The system not only estimate more accurate real-time data, but also strengthens the state predicting function, considering the delay of the driving operation. The experimental investigations were carried out in experimental fields of National Agriculture Research Center for Hokkaido Region in Japan. A semi-crawler tractor KUBOTA.M90-PC FQ1BMAL, 90PS (66kW) by seeder with work width 2,56 m was used. The method of field experiment includes the next basic steps: measurement the point coordinate of 4 corners of the field, introduction work width of the wor...
Design and Implementation of Intelligent Lawn- Mower Robot
2018
The objective of this project is to design and implement all terrain lawn mower robotic vehicle that can be used to remove grass from lawns and play grounds intelligently and precisely. The controller uses intelligent approach to work in dynamic, unstructured and unknown terrain without having any inaccuracy. A set of concurrently running behaviors are defined to perform mowing operation. Various accelerometers are utilized to obtain the dynamics of the terrain. There will be a master controller which uses information from the sensors and modify the mechanics of the mower to cut away the lawn precisely. The controller will be pretty much user friendly so that any ordinary human users can control it. Effective utilization of energy will be a prime concern for design.
Design and implementation of autonomous Lawn-Mower Robot controller
2011 7th International Conference on Emerging Technologies, 2011
The objective of this paper is to design and implement a Behavior-Based Lawn Mower Robot controller that can be used to mow grass from lawns and play grounds autonomously. The controller uses "sense-act" approach to work in dynamic, unstructured and unknown environment without having any reliance on surrounding world information. The controller is implemented using Motor Schema architecture, which uses continuous response encoding and cooperative coordination method for behavior coordination. A set of concurrently running behaviors are defined to perform mowing operation. Sonar ranging is used to detect and avoid obstacles. Shaft and visual odometry in coordinated form are exploited for local positioning, while Global Positioning System (GPS) is used for global positioning. Camera is used to detect grass field and optocouple sensors are utilized to differentiate between mown and un-mown grass.
The design objective is to come up with a mower that is portable, durable, easy to operate and maintain. It also aims to study different paths and come up with optimal route planning with minimum working time and minimum energy usage by the lawn mower. Various paths like square, spiral, combination of both square and spiral are being studied. The path to be travelled is preprogrammed in microprocessor Arduino Uno R3 which acts as a controller throughout the operation. The design of path plays a vital role in automation of device.
IFAC-PapersOnLine, 2019
The autonomous driving of agricultural machinery using information from global navigation satellite system (GNSS) information has developed rapidly because it is considered as a labor-saving measure in agriculture. The agricultural machinery is able to locate its position using a GNSS signal allowing it to move in an area autonomously. However, if machinery uses the GNSS signal only to selflocate it may run the risk of colliding with obstacles as it may not accurately sense the surrounding environment. Furthermore, sensors such as radars or lasers cannot distinguish between grass and obstacles; hence they cannot be used for sensing an agricultural environment including the detection of obstacles that are likely to be encountered by the machinery. Autonomous driving cannot be performed in environments such as orchards where the satellite positioning accuracy is low. This paper presents an autonomous driving system that we developed that is able to avoid obstacles and drive without the aid of a GNSS signal. The system uses an object detection system that is based on a stereo camera and deep learning technique i.e. convolutional neural networks as they can be used to recognize an environment and avoid obstacles. The autonomous driving ability of the vehicle was evaluated using real-time kinematic-GNSS to measure the true values through experiments that were conducted in the Tanashi Forest of the University of Tokyo.
Design and Fabrication of Self-Navigating Automated Lawn Mower
ABUAD Journal of Engineering Research and Development (AJERD), 2020
Existing lawn cutting machines suffer from more than one of the following; high initial cost, high levels of engine noise, high running cost due to high fuel consumption rates, need for perimeter wires around the field to be trimmed and high operator's fatigue in the long-run due to vibration, noise and other characteristics caused by different types of lawn. Hence the need for a system that can achieve the same cutting effect as the existing lawn mowers with little or no operator's fatigue, minimized noise pollution and low running cost. In this paper we describe the design and construction of an automated lawn mower, a device that cut grass automatically with little human intervention using a linear blade driven by a robotic car which is powered by a battery that uses dual charging system, namely solar energy and AC supply. Ackermann steering is used for the robotic car in this device; it has proximity sensor which it uses to detect and avoid objects while mowing. It can be operated in semi-autonomous and full autonomous mode with minimized running cost, no health hazard on the operator and it does not have any effect on the environment. The prototype was tested and it shows lawns can be cut whilst eliminating exposure of users to unhealthy conditions.
2017
Autonomous lawn mowers have been identified as one of the most famous innovations in the recent past. However, complex operational functions, data acquisition methods and the high costs of supporting items result in the expensive nature of these autonomous lawn mowers which in turn dissuades its use in domestic environments. Primary objectives of the research comprised of building a system to identify the working perimeter by means of waypoint identification and the development of an algorithm to detect obstacles in the path followed. This paper presents the completed mechanical design of an autonomous lawn mower prototype while innovating the art of lawnmower fabrication by using colour identification camera modules for path planning with the aid obstacle avoidance integrated in it.
Mission-Planner Mapped Autonomous Robotic Lawn Mower
Journal Européen des Systèmes Automatisés
An autonomous solar powered lawn mower deployable to a pre-mapped area was developed. The device receives directional sense using Mission Planner for pre-mapping of the workspace. This gives the device full control over the desired workspace, helping it to maneuver obstacles, including stones and trees, and get the work done without human intervention. The Autonomous device is made up of a robotic chassis, having four wheels and a DC motor connected to its underside, which is used to move the cutting blade. The blade cuts the grass beneath the lawn mower as the device navigates the workspace. Two microcontrollers were used to achieve the automation of this device. The first microcontroller was used to achieve obstacle avoidance while the second complimentary microcontroller was used to navigate the workspace autonomously. Holybro Kakute F7 HDV serves as the system central processing unit and it uses the Ardupilot technology to achieve navigation. It is particularly optimized for rovers due to its high resistance to vibration, ruggedness and size. A prototype of the robotic mower was developed and its operational performance satisfactory. The size of the pre-mapped area can vary, but a total distance of 135m was covered for the testing that was done.