Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics |
| Publisher | IEEE |
| Publication date | 2017 |
| Pages | 346-351 |
| Article number | 8014041 |
| ISBN (Print) | 978-1-5090-5998-0, 978-1-5090-6001-6 |
| ISBN (Electronic) | 978-1-5090-6000-9, 978-1-5090-5999-7 |
| DOIs | |
| Publication status | Published - 2017 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics - Munich, Germany Duration: 3. Jul 2017 → 7. Jul 2017 |
Conference
| Conference | 2017 IEEE International Conference on Advanced Intelligent Mechatronics |
|---|---|
| Country | Germany |
| City | Munich |
| Period | 03/07/2017 → 07/07/2017 |
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Covering path generation for autonomous turf-care vehicle. / Mai, Christian; Jouffroy, Jerome; Top, Søren; Bjærre, Martin.
Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics. IEEE, 2017. p. 346-351 8014041.Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
TY - GEN
T1 - Covering path generation for autonomous turf-care vehicle
AU - Mai, Christian
AU - Jouffroy, Jerome
AU - Top, Søren
AU - Bjærre, Martin
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
U2 - 10.1109/AIM.2017.8014041
DO - 10.1109/AIM.2017.8014041
M3 - Article in proceedings
SN - 978-1-5090-5998-0
SN - 978-1-5090-6001-6
SP - 346
EP - 351
BT - Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics
PB - IEEE
ER -