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Integration of Laser Scanner and Odometry for Autonomous Robotics Lawn-mower

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  2015 ASABE Annual International Meeting  152190609.(doi:10.13031/aim.20152190609)
Authors:   Chung-Liang Chang, Chen Yang, Gong-Bo Song
Keywords:   Mowers, microcomputer, sensor fusion.


This paper proposes an autonomous electric mowing robot, which adopts front-wheels drive in combination with an embedded system, sensor modules (including laser range finder, electronic compass and odometer), and electric power module for autonomous robot movement. This design can reduce noise and air pollution caused by traditional mowing machine and meanwhile save labor cost. The main control system receives digital data passed by each sensor module and executes each behavior mode, which consists of automatic mode and manual mode. The heading and distance data sent by the electric compass and odometer modules is useful to obtain robot heading and drive two-motors in real time to adjust speed and direction of the robot. The ranging data sent back by the laser range finder provides information for the robot to avoid obstacles and determines mowed area. Regarding the design of mowing device, the trimmer head employed bowstrings and mowing disc, which are installed below the robot. One baffle is equipped on the side of mowing disc to ensure the safety of mowing system. The activation of mowing drive is determined based on the necessary to mow the area, which can save electricity consumption. The experiment is implemented in outdoor lawn to evaluate and analyze the mowing overlap and coverage rate.

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