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Pattern Dependent Optimized Mowing of Football Fields with an Autonomous Robot

Authors:
Tahir Majeed
Ramón Christen
Michael Handschuh
René Meier

Keywords: mowing robot, path optimization, discrete optimization, integer programming.

Abstract:
This paper addresses the football field mowing problem using an autonomous mowing robot. To reduce the cost of maintaining and preparing the football field for a professional match, the football field is mowed using an autonomous robot. Football fields are typically mowed according to a pattern; therefore, the mowing path of the robot must be optimized with respect to time while obeying the constraint that mowing should result in a predefined pattern. In addition to finding the optimized path for the autonomous robot, a planning software has also been developed that creates and provides the data required by the optimizer. This data contains information on the pattern, the dependencies between individual lanes and the time required to mow a lane and to transition between lanes. The mathematical model to find the optimal mowing path was developed using Integer Programming. The proposed model is computationally efficient, mows the required pattern, fulfills the dependency constraints between the lanes and optimizes the path of the robot so that the football field is mowed in the least possible time.

Pages: 44 to 51

Copyright: Copyright (c) IARIA, 2021

Publication date: October 3, 2021

Published in: conference

ISSN: 2308-4499

ISBN: 978-1-61208-887-7

Location: Barcelona, Spain

Dates: from October 3, 2021 to October 7, 2021