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Design of an Autonomous Lawn Mower with Optimal Route Planning
|關鍵字:||path planning;最佳路徑;global positioning system;lawnmower;multi-task planning;全球定位系統;自走式除草機;多工分配||出版社:||電機工程學系所||引用:|| J. Smith, S. Campbell, J. Morton, “Design and implementation of a control algorithm for an autonomous lawnmower,” IEEE Midwest Symposium on Circuits and Systems, pp. 456-459, 2005.  L. Zu , H. Wang, F. Yue, “Localization for robot mowers covering unmarked operational area,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2197-2202, 2004.  C. Luo, S. X. Yang, X. Yuan, “Real-time area-covering operations with obstacle avoidance for cleaning robots,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2359-2364, 2002.  X. Fan, X. Luo, S. Yi, S. Yang, H. Zhang, “Optimal path planning for mobile robots based on intensified ant colony optimization algorithm,” in Proc. of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, pp. 131-136, 2000  N. Miyake, T. Aono, K. 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Sebestian, “Sensor-based power management for mobile devices,” in Proc. of IEEE Symposium on Computers and Communications, pp. 263-269, 2006  M. Cong, B. Fang, “Multisensor fusion and navigation for robot mower,” in Proc. of IEEE International Conference on Robotics and Biomimetics, pp. 417-422, 2007  M. Bosse, N. Nourani-Vatani, J. Roberts, “Coverage algorithms for an under-actuated car-like vehicle in an uncertain environment,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 698-703, 2007  C. Luo, S. X. Yang, M. Meng, “Entire region filling in indoor environments using neural networks,” in Proc. of the 4th World Congress on Intelligent Control and Automation, pp. 2039-2044, 2002||摘要:||
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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