Intelligent Lawn Mowing Robot Design Based On UWB Positioning

With the acceleration of urban greening in the present era and the advancement of intelligent robotics research,there has been a preliminary development of intelligent robots in lawn mowing.In this paper,the design of an intelligent lawn mower based on UWB positioning technology is studied.Firstly,the design of the ontological structure model of the intelligent lawn mower is carried out,including three major structures such as the mobile platform,the mowing mechanism and the appearance layout,and the detailed analysis on the power supply of the mower is carried out.Secondly,the design of intelligent mower control system is described in detail,and the functions including walking,mowing motor control,UWB positioning,IMU position information,intelligent obstacle avoidance,rainproof,Bluetooth control,power acquisition,OLED display,etc.are extended,and the MEGA2560 board is adopted as the core of the whole control system,and then the orderly composition of the whole system functions is completed.Subsequently,a joint processing method of UWB coordinate information and IMU attitude information based on Kalman filtering algorithm is proposed as an important part of the research,so as to optimize the acquired positioning coordinates and improve the positioning accuracy.In addition,the raster construction method is used to construct the mowing map of the intelligent lawn mower,and the A* algorithm is used to perform the path planning.By obtaining the real-time coordinates of the mower and the real-time angle to achieve point-to-point navigation,and conduct relevant experiments,data is processed by MATLAB software,and data collection is completed by top computer.Finally,the full area path traversal mowing simulation experiment was completed on the calibrated map.