A lawnmower path planning method

By optimizing lawnmower path planning using ox-plowing motion with known global information and simulated annealing algorithm, the problems of low coverage and numerous turns of lawnmowers in complex environments are solved, achieving efficient and low-cost full-coverage path planning.

CN117516580BActive Publication Date: 2026-07-24SHANGHAI ALLYNAV TECH CO LTD
View PDF 2 Cites 0 Cited by

Patent Information

Application Number
CN202311678474.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-12-07
Publication Date
2026-07-24
Estimated Expiration
2043-12-07

AI Technical Summary

Technical Problem

Existing lawnmower path planning technologies have low coverage in complex and ever-changing mowing environments, require lawnmowers to make many turns, resulting in low efficiency, high cost, and high hardware requirements. Alternatively, the machine learning models may be inaccurate and unsuitable for scenarios with small amounts of data.

Method used

By employing a globally known ox-plowing motion combined with simulated annealing algorithm and geometric methods, obstacle and non-obstacle regions are divided using a grid map. Coverage index and margin specification index are calculated, and the path is optimized using Metropolis criterion and simulated annealing algorithm to generate a fully covered path.

Benefits of technology

The generated paths have high coverage, require fewer turns for the lawnmower, are low-cost, generate paths quickly, have strong obstacle avoidance capabilities, avoid duplication of work and omissions, and are suitable for full-coverage path planning on any plot of land.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN117516580B_ABST
    Figure CN117516580B_ABST
Patent Text Reader

Abstract

The application discloses a mower path planning method and belongs to the field of agricultural robots. A full-coverage path planning algorithm based on a DARP+ simulated annealing algorithm+ geometric method is provided. The full-coverage path planning algorithm based on the application has the advantages of small overall cost, less turning times of the mower, high coverage rate, small operation amount of the generated path, fast path generation speed, obstacle avoidance, consideration of the vehicle size when setting the safety distance, high safety of the generated path, avoidance of repeated work and omission in the mowing operation, high mowing efficiency and greatly reduced cost. The method can be used for full-coverage path planning of the mower in any land and can avoid obstacles.
Need to check novelty before this filing date? Find Prior Art

Citation Information

Patent Citations

  • Agricultural machine coverage path planning method

    CN113686344A

  • Path planning method and system for intelligent mowing robot

    CN116736845A