The CSUF Robotic Lawnmower: Lessons Learned from Modifying a Riding Lawnmower

J. Huang, M.J. Yeh

Abstract:	The objective of the California State University, Fullerton (CSUF) robotic lawnmower project is to create a completely autonomous lawnmower, using an existing consumer grade riding mower with Ackerman steering system. To achieve automation, the entire mower's mechanism has to be electrically controlled. The steering linkage and the drive train on the riding mower are replaced with electric motors; however, grass cutting blades remained to be powered by a gasoline engine since an electric powered cutter would significantly shorten the battery life. The mower also utilizes a variety of sensors, including differential GPS (DGPS) positioning, inertial measurement unit (IMU), laser distance measuring and computers implementation. Using data from DGPS and the various sensors around the mower, the mower can perform tasks such as dynamic path planning and obstacle avoidance in order to cover the whole cutting field.
Published in:	Proceedings of the 2012 International Technical Meeting of The Institute of Navigation January 30 - 1, 2012 Marriott Newport Beach Hotel & Spa Newport Beach, CA
Pages:	402 - 407
Cite this article:	Huang, J., Yeh, M.J., "The CSUF Robotic Lawnmower: Lessons Learned from Modifying a Riding Lawnmower," Proceedings of the 2012 International Technical Meeting of The Institute of Navigation, Newport Beach, CA, January 2012, pp. 402-407.
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