Abstract
A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate a suitable toolpath. The algorithm has been tested on a recorded polygon from a local park turf which is non-convex and has holes, illustrating the algorithm functionality and limitations wrt. optimality. In particular, the algorithm can generate a tool-path for any polygon orientation.
Originalsprog | Engelsk |
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Titel | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
Antal sider | 6 |
Forlag | IEEE Signal Processing Society |
Publikationsdato | 21 aug. 2017 |
Sider | 346-351 |
Artikelnummer | 8014041 |
ISBN (Elektronisk) | 9781509059980 |
DOI | |
Status | Udgivet - 21 aug. 2017 |
Begivenhed | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Tyskland Varighed: 3 jul. 2017 → 7 jul. 2017 |
Konference
Konference | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
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Land/Område | Tyskland |
By | Munich |
Periode | 03/07/2017 → 07/07/2017 |
Navn | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
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Bibliografisk note
Publisher Copyright:© 2017 IEEE.