Obstacle Avoidance for Autonomous Mowing
Ben C. Creed, Aaron Arsenault, Steven A. Velinsky, Ty A. Lasky · Mechanics Based Design of Structures and Machines · 2012
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.