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Suppose that the grass of a football pitch will be mowed by a grass - cutting robot with differentially driving mechanism. The robot needs to

Suppose that the grass of a football pitch will be mowed by a grass-cutting robot with
differentially driving mechanism. The robot needs to navigate and mow the grass and charge
the on-board batteries when the voltage is low.
Suppose that the robot is provided with an environment map. There is a charging point and a
grass storage place outside the pitch. There is no information about people moving around.
The criterions for implementing this task are:
The robot must mow the whole rugby pitch without unnecessary repeating.
The robot must not hit any object and people who may move around the pitch.
The robot must empty its grass storage bag when the bag is full.
The robot must return to the charging point when completing the task.
Suppose that your task is to design a control system for the mobile robot to implement the
specified task using behaviour-based approach. Answer the following design questions:
(a) Design a feedback control system for the low lever motion control of the robot.
(b) Define a set of robot behaviours that are required for this application.
(c) Discuss what sensors you would use in your design and what roles they will play

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