Abstract
This paper presents a novel solution of coverage path planning for robotic mowing applications. The planning algorithm is based on the Boustrophedon motions and the rapid Voronoi diagram. The coordinate conversion and the sweeping vector is defined by minimum bounding box and the Voronoi travel paths are designed to reduce the computational cost and execution time compared to conventional heuristic methods. The tracked path is controlled via dynamic feedback in standard lawn mowing robots under robot operating system (ROS). Within ROS, the information exchanging among different tasks of both extensive simulation cases and experimental field tests can be conducted easily. When meeting unknown obstacles, the proposed algorithm can re-plan its paths dynamically. The performance of the proposed algorithm is compared to several conventional coverage algorithms in terms of time efficiency, coverage, repetition, and robustness with respect to both concave and convex shapes. The field tests are conducted to demonstrate that the applicability of the sensor fusion and robustness of the proposed algorithm for the complete coverage tasks by robotic mowers.
Highlights
Due to the increasing dependence on robotics, autonomous lawn mowers are becoming popular in public or private green space
In order to solve the problem of complete coverage path planning, Viet et al (2012) proposed an efficient coverage approach for cleaning robots based on Boustrophedon motions and A* algorithm (BA*)
A novel solution of coverage algorithm is presented for robotic mower system
Summary
Due to the increasing dependence on robotics, autonomous lawn mowers are becoming popular in public or private green space. With regard to the senor used on mower, many of early commercial mower using a shallow-buried wire for confining random motion robotic mowers (Patterson et al 2019) This kind of coverage approaches rely on randomized components and heuristics computation which are not efficient (Sportelli et al 2020). The core work of lawn mower systems aims at developing an efficient coverage path planning. The whole solution of the automatic mowing system is illustrated, including innovative map projection, optimal sweep direction observing, Boustrophedon motion for coverage path planning, and online re-planning planner based on modified Bug algorithm. In this paper, RTK-GPS is used to localize the mower in the global space and offers an accuracy range, which can replace the function of using buried boundary wire and enhance the precision of position data
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