Autonomous Lawn - Mower ( CAV 2010 ) AVACS H 4 Phase 2 July 28 , 2011
نویسنده
چکیده
1 Description of the Model We consider an autonomous lawnmower that uses a probability bias to avoid patterns on lawns. This mower is started on a rectangular grassed area. When it reaches the border of the area, it changes its direction. To prevent the mower from following a simple cycle pattern, this direction is randomly biased, such as to ensure that finally the entire area has been cut. A sketch of the automaton is given in Figure 1. There, l is Figure 1: Model of the LawnMower the length and h the width of the area. The position of the mower on the area is given by (x, y). With (v x , v y) we denote the speed in (x, y) direction, which the mower takes with probability 0.95 when reaching a border, whereas (v x , v y) denotes a variation of the 1
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