Algorithm for optimal path planning of a robotic lawnmower

Abstract

Horticultural lawns include areas of land that are covered with sown grass in urban areas and require periodic mowing in order to best preserve their aesthetic and functional purpose. This activity may require significant involvement of human and material resources, especially in large public areas such as sports fields, parks and picnic areas. Thanks to the progress of computer technology, this tiresome routine work is gradually being taken over by robotic mowers that can bring significant savings in human and material resources. In this paper, the problem of robotic lawnmowers related to path planning in the working environment is presented. Commercial solutions to date are mostly based on choosing a random straight line path until the mower reaches a lawn boundary or obstacle, after which it turns in the opposite direction and continues mowing in an arbitrary direction. This paper presents a path planning method based on the Chinese postman's algorithm, which enables the planning of the most optimal path that the mower will take so that it mows the entire lawn in the most economical way.