2A1-E14 小型芝刈りロボット群のパスプランニング手法

概要

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In this paper, inspection about robustness and efficiency mowing strategy that uses small mowing robots and charge station. The mowing robots (Robomower) will be expected to mowing work at open areas like as parks. To work in the open area, the robots must keep the safety for people at first. The Robomower is GPS based small mowing robots. It has many sensors: GPS, terrestrial magnetism direction sensor, ultrasonic wave sensors and tactile bumper switches...etc. The Robomower communicate with other robot use Ad-hoc network and SOAP communication. The mowing task is that robots pass all work area that divided the grid areas. The approach strategy is path tracing and moving to objective point at perigee. And make the path uses GA. It is tested the approach strategies work on the mowing task by the real robots experiment.