Covering path generation for autonomous turf-care vehicle

Christian Mai, Jerome Jouffroy, Søren Top, Martin Bjærre

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Abstrakt

A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate a suitable toolpath. The algorithm has been tested on a recorded polygon from a local park turf which is non-convex and has holes, illustrating the algorithm functionality and limitations wrt. optimality. In particular, the algorithm can generate a tool-path for any polygon orientation.

OriginalsprogEngelsk
TitelProceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics
ForlagIEEE
Publikationsdato2017
Sider346-351
Artikelnummer8014041
ISBN (Trykt)978-1-5090-5998-0, 978-1-5090-6001-6
ISBN (Elektronisk)978-1-5090-6000-9, 978-1-5090-5999-7
DOI
StatusUdgivet - 2017
Begivenhed2017 IEEE International Conference on Advanced Intelligent Mechatronics - Munich, Tyskland
Varighed: 3. jul. 20177. jul. 2017

Konference

Konference2017 IEEE International Conference on Advanced Intelligent Mechatronics
LandTyskland
ByMunich
Periode03/07/201707/07/2017

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