Robotic Mower Dead Reckoning to Avoid Lawn Track Formation

The patent applies dynamics by making the distance parameter variable rather than fixed. The control unit randomly selects a distance value from a range (e.g., 0.5m to 2m) each time the mower returns to charge, causing the mower to follow the wire at varying distances. This dynamic adjustment prevents repeated traversal of the same path, eliminating track formation while maintaining reliable wire-based navigation.

The patent applies parameter changes by modifying the distance parameter between the mower and the guide wire. By randomly varying this distance parameter within a specified range, the system becomes adaptable to different wire routing configurations and installation errors. The mower can still efficiently follow the wire at variable distances, maintaining productivity while gaining flexibility to handle incorrect or changed routing without requiring precise wire placement.

The patent applies dynamics by making the approach distance to the charging station variable. Instead of following a fixed signal strength threshold or constant distance path near the charging station, the control unit randomly selects distance values for the final approach. This dynamic variation in approach parameters enables accurate docking while preventing repeated traversal of the same path in the charging station vicinity, thereby eliminating track formation.