Lawn Mower Trajectory Tracking By Wheeled Mobile Robot: Its Consequences

摘要

Lawn mower trajectory tracking by a wheeled mobile robot, which is a nonholonomic system, is a challenging task. The study of this kind of trajectory is essential for precise survey, lawn mowing and other applications. Lawn mower trajectories can be generated by various ways. A continuous function of lawn mower path is an approximated lawn mower and may not be useful for prospective applications. So in this paper, an ideal lawn mower path (discontinuous in nature), which is a combination of straight lines and circular segments are designed, explained and compared with the continuous lawn mower path, already reported in the literature. A feedback linearization controller is designed by choosing proper output functions to track both kind of lawn mower trajectories. During trajectory tracking with both the paths, robots dynamic characteristics like wheel torques, angular velocity and position of wheels are studied in a greater length. The simulations are performed using the physical parameters of a real wheeled mobile robot. Some satisfactory results are observed and reflected in this research article. Research finding is that, choice of continuous (approximated) or discontinuous (ideal) lawn mower paths will be depended on the actuators instantaneous torque capabilities as well as application requirements of the robotic system.