OBSTACLE AVOIDANCE FOR AUTONOMOUS MOWING

被引：8

作者：

Creed, Ben C. ^{[1
]}

Arsenault, Aaron ^{[1
]}

Velinsky, Steven A. ^{[1
]}

Lasky, Ty A. ^{[1
]}

机构：

[1] Univ Calif Davis, Dept Mech & Aerosp Engn, Davis, CA 95616 USA

来源：

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2012年 / 40卷 / 03期

关键词：

Automation; Highway maintenance; Landscaping; Obstacle avoidance; Robotics; MOBILE; LOCALIZATION; NAVIGATION;

D O I：

10.1080/15397734.2012.685441

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This paper discusses obstacle avoidance for autonomous mowing for application in highway vegetation control. In recent work, a unique autonomous mower testbed was developed to prove the efficacy of such an approach. The testbed has been augmented with laser range finding to support obstacle detection. This paper presents experimental results for reactive obstacle avoidance using the pure-pursuit geometric control algorithm. The results show that the laser-based obstacle detection and avoidance is effective for the mowing application.

引用

页码：334 / 348

页数：15

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