Autonomous Mower Path Planning for Slope and Obstacle Avoidance
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Solution Overview
Problem
Autonomous lawn mowers often become stuck on steep slopes due to loss of traction, and obstacles in their path impede effective coverage of the work region.
Innovation Solution
The autonomous grounds maintenance machine uses path planning based on a predetermined terrain map to avoid problem areas and obstacles by planning rotations and adjusting propulsion direction, allowing it to maintain traction and navigate around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the autonomous lawn mower uses a differential drive system to simplify the power train, then the device complexity is reduced, but the machine becomes prone to losing traction on steep slopes and becoming stuck
Solution Approach 1:
The system performs preliminary detection of steep slopes using a level detector before the mower reaches problematic areas. When a steep slope is detected, the control system proactively commands the mower to reverse direction or rotate to a safer orientation before traction is lost, preventing the mower from becoming stuck rather than reacting after the problem occurs
Solution Approach 2:
The level detector continuously monitors the mower's orientation and provides feedback to the control system. When the detector senses that the mower is on a sufficiently steep grade, this feedback triggers evasive maneuvers such as reversing course or rotating the mower to exit the problem area, creating a closed-loop control system that maintains traction reliability
2Reliability
If the level detector triggers evasive actions when sensing a steep grade, then the machine can avoid becoming stuck in many situations, but the evasive actions eventually wear down the surface and damage the turf, reducing traction and requiring repair
Solution Approach 1:
Instead of allowing the mower to drive forward onto steep slopes and then reacting with evasive maneuvers that damage the turf, the system inverts the approach by detecting steep grades in advance and commanding the mower to reverse direction or rotate to a safer orientation before entering the problematic area. This prevents both getting stuck and causing turf damage
Solution Approach 2:
The level detector and control system perform preliminary detection and response to steep slopes before the mower commits to traveling in a direction that would cause it to become stuck. By taking preliminary evasive action at the first sign of a steep grade, the system avoids the need for repeated maneuvers that would wear down the surface
3Device complexity
If the autonomous mower travels in a random pattern within a fixed boundary, then the device complexity is reduced, but obstacles in the path impede the ability to effectively cover the intended work region
Solution Approach 1:
The system performs preliminary detection of obstacles using sensors before the mower travels along its planned path. When an obstacle is detected, the control system proactively commands the mower to rotate and take an alternate route, preventing the mower from becoming blocked and ensuring continuous coverage of the work region
Solution Approach 2:
Obstacle detection sensors continuously monitor the mower's path and provide feedback to the control system. When an obstacle is detected in the path, this feedback triggers a response to rotate the mower and select an alternate route, creating a closed-loop navigation system that maintains effective work region coverage despite the presence of obstacles
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.