Coverage path planning software for autonomous robotic lawn mower using Dubins' curve

Abstract

Optimal coverage path planning (CPP) is the process of determining a path that passes over all points of an area of interest in a systematic way while avoiding obstacles in a manner that minimizes operational cost and time. This paper develops a software tool for determining an optimized path planning for many robotics applications such as autonomous golf course lawn mowers and agriculture robotics equipped with global positioning system (GPS) and trajectory tracking control system. The inputs to the algorithm are the field boundaries, required number of headland polygons, driving angle, operating width and minimum turning radius of the autonomous vehicle or robot. The output is a set of ordered field tracks connected using Dubins' curves to construct a complete, smooth, and continuous trajectory for the autonomous vehicle or the robot to follow throughout the execution of its field operation. The field tracks are ordered in a way that minimizes maneuvering over headland area. The software is developed in both Matlab and Python.