Paper Info
Title
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.
Year
DOI
Venue
2017
10.1109/RCAR.2017.8311915
2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Keywords
Field
DocType
coverage path planning software,autonomous robotic lawn mower,Dubins' curve,software tool,autonomous golf course lawn mowers,agriculture robotics,trajectory tracking control system,autonomous vehicle,Matlab,Python
Motion planning,Computer science,Robot kinematics,Real-time computing,Turning radius,Software,Artificial intelligence,Robotic lawn mower,Robot,Trajectory,Robotics
Conference
ISBN
Citations 
PageRank 
978-1-5386-2036-6
1
0.36
References 
Authors
13
1
Name
Order
Citations
PageRank
I. A. Hameed1299.45