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Autonomous Rover for Groundwork Lawn Mowing

The objective of this paper is to design and implement a lawnmower robot that can be used to mow grass from lawns and playgrounds remotely, online, or autonomously. The robot follows a rectangle zigzag trajectory through the lawn without any human interference. A set of concurrently running behaviors are defined to perform mowing operation. Sonar ranging is used to detect and avoid obstacles continuously throughout the route. The micro-controller connects to an ethernet board and uploads the robot's functions to a web server. Through the web server, users can monitor a 3D model of the moving rover and data from the lawnmower sensors. In addition, the robot's behaviors and connections are uploaded to IoT analytics platform to aid the performance evaluation and feature development.