GPS-Guided Autonomous Lawnmower With Scanning Laser Obstacle Detection

D. Bates, F. van Graas

Abstract:	The objective of the Ohio University Autonomous Lawnmower Project is to mow a field of grass efficiently, accurately, and aesthetically in order to successfully compete in the Institute of Navigation’s Annual Autonomous Lawnmower Competition. In order to achieve this objective, an effective platform, power plant, mower, drive, precise navigation and controls, obstacle avoidance, dynamic path planning, and safety systems were designed and implemented. The current design of the Ohio University Autonomous Lawnmower is the result of an iterative design process spanning three years. Each year operational complexity is added to the design based upon increased difficulty of the next competition and lessons learned from previous years. The extent of this yearly improvement is dictated by the need for the mower to be operable by the next competition. In June 2006, the Ohio University autonomous lawnmower finished in first place in the competition. Although this was the third consecutive year the mower won, it was the first time the lawnmower demonstrated that autonomous lawn mowing is feasible.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	3082 - 3088
Cite this article:	Bates, D., van Graas, F., "GPS-Guided Autonomous Lawnmower With Scanning Laser Obstacle Detection," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 3082-3088.
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