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RISS 인기검색어
- 검색키워드
- 저자 : Pragithmukar (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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A Novel Offline Coverage Path Planning Algorithm for A Tethered Robot
L.S.R. Mechsy,M.U.B. Dias,W. Pragithmukar,A.L. Kulasekera 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents a solution to the problem of 2D coverage path planning (CPP) for a tethered robot where the tether is of a constraint length connected to a fixed point in a known environment. Limited research has been done in this problem area hence there is a lack of algorithms providing CPP in the literature. CPP algorithms are highly useful in various applications such as search and rescue robots, cleaning robots, area exploration robots, agricultural robots and lawn maintenance robots. The path planning algorithm discussed here can be used in an environment having a defined boundary with an a priori map. The given algorithm enables the robot to take an optimum path while detecting, avoiding static obstacles and preventing entanglements of the tether. An occupancy grid map based approach is used here. The algorithm is applicable to a system with a mechanism to retract and extend the tether when required either mounted on the robot or a fixed base. The proposed novel algorithm to the problem assures coverage of all accessible grids in the map. The implementation and the scalability of the algorithm has also been validated using simulation in MATLAB.
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A Mobile Robot Based Watering System for Smart Lawn Maintenance
L.S.R. Mechsy,M.U.B. Dias,W. Pragithmukar,A.L. Kulasekera 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Lawn maintenance is a tedious task that requires watering, mowing and fertilizing to be carried out at regular intervals to maintain a healthy lawn. Significant wastage and pollution occurs due to improper lawn maintenance practices. With many repetitive and routine tasks being replaced by robotic systems, lawn maintenance could also be achieved using a robotic system that would limit wastage and pollution, ensure a healthy lawn and reduce the work content of the lawn owner. This research presents a prototype robotic system developed to water a lawn efficiently by measuring soil moisture levels. The system comprises a tethered mobile platform and a watering system. The mobile platform is capable of measuring the soil moisture levels at a required depth and controls the water delivery based on pre-set moisture requirements. A novel Coverage path planning (CPP) algorithm was developed to account for the constraints posed by the tether and navigate to all accessible areas within a given lawn layout. The CPP algorithm uses a priori map consisting of environment data and prevalent static obstacles. This paper presents a fully autonomous system, which is able to water the lawn, traversing the path generated by CPP algorithm. The control system of the robot was developed using the Robot Operating System (ROS). The control system is designed in three layers. The higher level provides path planning and decision making, the mid-level provides communication with the hardware and carries out mandatory calculations and the lower level performs reading of sensor inputs and controlling of actuators. The control system was designed in a manner such that it can be remotely monitored and controlled. The developed platform was tested carrying out area coverage while watering a test area.
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