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Design of an Autonomous Lawn Mower with Optimal Route Planning
global positioning system
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An optimal path planning scheme for autonomous lawnmowers to achieve minimum working time, minimum energy conservation and mixed operation mode, as well as high efficiency is developed in this thesis. For route planning, rough path planning and a geography method are adopted. A rough path planning is first considered with obstacles ignored. Then, a geography method is applied to enable the details of a real optimal path in accessing the easiest and safest condition. After taking the chosen mode, a distinct path planed on the basis of the obstacles coordinates are obtained. Additionally, a global positioning system (GPS) which provides real-time positioning of the lawnmower is equipped with the path planning system. In addition to the path planning using single mower, an algorithm for multi-task operation as well as the partitioning method for working area is also developed. For this algorithm, we define an index of mowing easiness, with which the accomplishing level in mowing for any prairies can be derived. Based on the figure of mowing easiness, an objective function is proposed for optimization. With the optimization of this objective function, the control law for the optimal multi-task of mowing is developed. The optimal path planning has been tested under a variety of simulations and proven to be effective in enhancing the working efficiency.
|Appears in Collections:||電機工程學系所|
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