Obstacle Avoidance for Autonomous Mowing

Ben C. Creed Department of Mechanical and Aerospace Engineering, University of California, Davis, California, USA

Aaron Arsenault Department of Mechanical and Aerospace Engineering, University of California, Davis, California, USA

Steven A. Velinsky Department of Mechanical and Aerospace Engineering, University of California, Davis, California, USACorrespondence[email protected]

Ty A. Lasky Department of Mechanical and Aerospace Engineering, University of California, Davis, California, USA

Abstract

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.

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ACKNOWLEDGMENTS

The authors gratefully acknowledge the Division of Research and Innovation of the California Department of Transportation for the support of this work through the Advanced Highway Maintenance and Construction Technology (AHMCT) Research Center at the University of California, Davis.

Notes

^#Communicated by B. Ravani.

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Obstacle Avoidance for Autonomous Mowing

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Obstacle Avoidance for Autonomous Mowing

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