Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach

Christian Mai, Søren Top, Jerome Jouffroy

Research output: Chapter in Book/Report/Conference proceedingConference contribution to proceedingpeer-review


Autonomous mobile robots and vehicles are a longstanding but recently reinvigorated research area, due in part to the commercialization of sensors technologies and processing power. In this work, a fully autonomous turf-care robot is used as a basis for development of a trajectory control solution with application to differential-drive robots with displaced end-effectors. A kinematic model for the vehicle is derived as well as expressions for the movement of the tool (end-effector), shown to be a system of the Liouvillan type. The Liouvillan model allows for the development of a feed-forward controller and feed-back controller, which are combined to allow trajectory tracking based on an arbitrary linear-segmented path. The path will ideally be a covering path and can be generated by an algorithm described in previous work. To validate the model and controller, the control solution is tested by numerical simulation against a kinematic model in MATLAB/Simulink and additionally against a dynamic 6-DOF model in OSRF Gazebo software. The developed controller enables sufficient tool trajectory-tracking in the kinematic model, but there are significant oscillations and deviations when used with a dynamic model, warranting further work on the feedback controller.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Publication dateSep 2018
ISBN (Print)978-1-5386-1854-7
Publication statusPublished - Sep 2018
Externally publishedYes


  • technology, engineering and IT

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