ASMO: Autonomous System for Mowing Operations

Robot;Autonomous;Mowing;Localization;Path Planning;LIDAR;Odometry

Allen, Christopher

University:Havard University

Department:Software Engineering

关键词: Robot;    Autonomous;    Mowing;    Localization;    Path Planning;    LIDAR;    Odometry;   

Others  :  https://dash.harvard.edu/bitstream/handle/1/37364549/ALLEN-DOCUMENT-2018.pdf?sequence=1&isAllowed=y

美国|英语

来源: Digital Access to Scholarship at Harvard

【 摘 要 】

The goal of this project is to create a heavy-duty autonomous robotic system for mowing complex lawns.To this end, I will mechanize a commercial-grade 27 HP zero-turn mower automating control of it through a computer.The mower will be fully outfitted with various sensors and safety protocols to allow it to mow without operator intervention.The mower will include a custom-built laser guidance system as its primary way of navigating the environment.Software will be written to virtualize multiple laser units into one unit to provide a 360-degree ground level view of the environment.The mower will also include a novel custom-built wheel odometry system impervious to dirt and dust.Software will be written to fuse data from multiple sensor systems to provide accurate odometry data for use in navigation.The navigation system will incorporate a unique custom virtualized mowing environment for path planning purposes.Current homeowner robotic mowers are small and require the installation of wires to guide the robot’s path.Current commercial robotic mowers generally require a remote operator to control the unit.In contrast, ASMO will be a large, commercial grade mower, operating autonomously, without guide wires, inside the work area.This project will develop both software and hardware systems to meet this goal.