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Authors: Alfredo Chávez Plascencia 1 ; Vítězslav Beran 1 ; Jaroslav Rozman 1 and Aguilar Acosta Armando 2

Affiliations: 1 BUT FIT IT4Innovations, Czech Republic ; 2 University of Guadalajara, School of Mechatronics, Carretera Guadalajara - Ameca Km. 45.5, C.P. 46600, Ameca, Jalisco, Mexico

Keyword(s): Mobile Robot, Nonlinear Control, Path Planning.

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 pr oposed control strategy applied to a four-independent steering nonholonomic wheeled mobile robot. (More)

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Paper citation in several formats:
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 - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 99-108. DOI: 10.5220/0008924300990108

@conference{icinco20,
author={Alfredo Chávez Plascencia and Vítězslav Beran and Jaroslav Rozman and Aguilar Acosta Armando},
title={Working Progress towards Lawn Mower Automation},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={99-108},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008924300990108},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Working Progress towards Lawn Mower Automation
SN - 978-989-758-442-8
IS - 2184-2809
AU - Plascencia, A.
AU - Beran, V.
AU - Rozman, J.
AU - Armando, A.
PY - 2020
SP - 99
EP - 108
DO - 10.5220/0008924300990108
PB - SciTePress

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