Title :
An obstacle-edging reflex for an autonomous lawnmower
Author :
Daltorio, Kathryn A. ; Rolin, Amaury D. ; Beno, Jonathan A. ; Hughes, Bradley E. ; Schepelmann, Alexander ; Branicky, Michael S. ; Quinn, Roger D. ; Green, James M.
Author_Institution :
Dept. of Mech., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
We developed a controller that allows our prototype lawnmower, CWRU Cutter, 1st place winner of the 2009 ION Autonomous Lawnmower Competition, to follow pre-defined paths and reflexively edge around obstacles before returning to the path. CWRU Cutter is equipped with localization sensors (GPS) and obstacle detecting sensors (LIDAR and camera).
Keywords :
Cameras; Global Positioning System; Laser radar; Legged locomotion; Mobile robots; Orbital robotics; Parallel robots; Process planning; Prototypes; Robot vision systems; domestic robot; hierarchial control; reflexive obstacle avoidance;
Conference_Titel :
Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION
Conference_Location :
Indian Wells, CA, USA
Print_ISBN :
978-1-4244-5036-7
Electronic_ISBN :
2153-358X
DOI :
10.1109/PLANS.2010.5507339
