Study on Path Planning of Intelligent Mower Based on UWB Location

Abstract

With the progress of intelligent robot technology and the increase of urban greening area, the intelligent mower has also been greatly developed. However, most intelligent mowers do not have the ability to locate outdoors accurately, so the random path is mainly used for mowing. This makes mowing efficiency low. In this paper, the UWB(Ultra Wideband) location is used to solve the problem that intelligent mower cannot accurately locate outdoors. UWB location system consists of location base station and location label. In the experiment, the intelligent mower can be located accurately to the Ami level, which provides the basis for path planning. In the aspect of path planning, this paper mainly takes the global static known environment as the research background. In this paper, the map construction of intelligent mower operation, the point-to-point optimal path algorithm, and the whole area coverage algorithm are studied. The improved Boustrophedon cell decomposition is proposed, which makes the mower more efficient.