Autonomous Lawn Mowing Robot Built using ROS
Demo Video https://www.youtube.com/watch?v=3f1isB4wQYs
Cutting grass manually is time consuming task and causes lot of fatigue for the operator due to the vibrations and noise created. This study focuses on building a battery powered autonomous lawn mower which can be used in residential and corporate lawns, golf carts and playgrounds.
Existing machines in the market needs a guide wire around the lawn, does not mowe in even pattern, cannot handle a inclination and very expensive. This study will work to overcome all these limitations.
Sensor fusion technology is used to accurately estimate the state of the mower. Proportional–Integral–Derivative (PID) based drive system is used to set the velocity of the mower. A coverage path planning algorithm generated waypoints are used to move the entire lawn.
The methodology proposed above adds a large list of advantages like even mowe pattern (Like human controlled), automatic charging station docking, good cutting efficiency, less cycle times, prevent accidents, user friendly humanmachine interface, and high accuracy.
The objective of this work is to develop navigation, path-planning, obstacle detection and human-machine interface modules for an autonomous lawn mower. Developed modules are tested by fabricating lawn mower prototype. The developed prototype is able to pass most of the test cases and working as expected in test cases designed in view of India climate and soil conditions.
More Detailed Report: https://drive.google.com/file/d/1xzxxRDAvb5W5cfFdLTjpnI4EwRVRm6g5/view?usp=sharing