Autonomous Mower Path Planning for Slope Traction and Obstacle Avoidance
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Solution Overview
Problem
Autonomous lawn mowers with differential drive systems often lose traction on steep slopes, leading to becoming stuck, and struggle with obstacles, which reduces their effectiveness and can damage the turf.
Innovation Solution
Implementing path planning based on a predetermined terrain map to orient the machine for maintaining traction and avoid obstacles by analyzing the terrain and deciding on forward or reverse directions, and using sensors to detect and change course before contacting obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If autonomous lawn mowers use differential drive systems to simplify the power train, then device complexity is reduced, but they lose traction on steep slopes and become stuck
Solution Approach 1:
The level detector proactively senses steep grades before the mower approaches a boundary, allowing the controller to plan evasive maneuvers in advance. This prevents the mower from losing traction by taking action before the problematic situation occurs, rather than reacting after traction is already lost.
Solution Approach 2:
The system dynamically adjusts the mower's path based on real-time terrain sensing. When a steep grade is detected, the controller modifies the travel pattern to avoid approaching boundaries at problematic angles, adapting the operation dynamically to maintain traction throughout the work region.
2Reliability
If the level detector senses steep grade to trigger evasive maneuvers, then the mower can avoid some problem areas, but it becomes stuck when already on steep grade near boundaries
Solution Approach 1:
The level detector continuously monitors terrain slope throughout the work region, not just when approaching boundaries. This allows the system to identify steep grades in advance and adjust the travel path proactively, ensuring the mower never enters a situation where evasive maneuvers would be too late to prevent getting stuck.
3Reliability
If evasive actions are taken on steep grades, then the mower can recover traction temporarily, but the surface wears down and subsequent evasive actions fail
Solution Approach 1:
By continuously monitoring terrain and identifying steep grades in advance, the system plans travel paths that avoid problematic areas entirely. This preventive approach eliminates the need for repeated evasive maneuvers that cause turf wear, protecting the surface while maintaining productivity.
4Productivity
If autonomous mowers use random travel patterns within fixed boundaries, then they can cover the work region, but they become trapped on steep slopes and cannot effectively cover the entire area
Solution Approach 1:
The system dynamically adjusts the travel pattern based on terrain characteristics. When steep grades are detected in the random pattern, the controller modifies the path to avoid approaching boundaries at problematic angles, maintaining both coverage and operational continuity throughout the work region.
Data Source
AI summary
Operating an autonomous grounds maintenance machine includes determining a travel path for the machine to reach a destination waypoint in a zone of a work region. The travel path is analyzed for problem areas based on a predetermined terrain map. Rotations of the machine may be planned even before the machine begins to travel down the path to proactively prevent the machine from becoming trapped.