Design And Research On Path Planning Of Intelligent Mower Based On UWB Positioning

With the progress of related technology of intelligent robot and the increase of the urban green coverage,industries related to intelligent mower enjoy a huge development.Without human intervention,the intelligent mower has the functions of automatically mowing,automatically recharging,automatically identifying the boundaries.But most of the intelligent mowers in the market haven't solved the problems of outdoor precise positioning,so most of them mow the grass by planning randomly,which will lead to the uneven effect of mowing,the missing of the partial region and the low efficiency of the whole operation.On the basis of the last generation of intelligent mower,the design of the new generation of intelligent mowers is improved and the path planning algorithms related to intelligent mowers are studied in this paper.The motor driven control system of the intelligent mower is improved in this paper,the system is composed of drive chip,attitude sensor and MCU,and the system makes the mower move forward in a stated angle and keeps straight line,thus ensuring the final mowing effect and the implementation of path planning.The main control software system of intelligent mower is designed by multi-task modularization based on RTX embedded real-time operating system.The positioning system combines UWB location with dead-reckoning,which enlarges the scope of positioning area of only using UWB location technology,and the system of UWB location is composed of location base station(base station positioning)and location tag.The experiment shows that the intelligent mower can be positioned accurately to the decimeter level,which can provide the basis for the subsequent path planning.In terms of path planning,global-static-known environment is regarded as a research background,and the map building,the optimal path algorithm of point to point and complete coverage algorithm of intelligent mower are studied in this paper.The feasibility of the relevant algorithm is verified through simulation experiment.At the end of this paper,improved motor driven control system,the function of the positioning system and the feasibility of the path planning algorithm are verified by relevant experiments,which provides technical accumulations for mass production of new generation of intelligent mowers.