Simultaneous Localization and Mapping Technique Based Autonomous Lawn Mower

摘要

The objective is to design and fabricate an autonomous lawn mower with the of simultaneous localization and mapping technique so that the lawn mower can map its location and mow the lawn without the human intervention. The heart of the mower is electric powered dc motors. The dc motors given to the wheels and blade of the mower are powered by a 12v battery. Using Kinect module the concept of slam has been introduced in the lawn mower. In addition to the slam, the lawn mower can also avoid obstacles with the help of ultrasonic sensor. The microcontroller used here is the raspberry pi which along with some motor drivers to limit the speed of the dc motors and also in controlling the mower to avoid obstacles with the feedback from the ultrasonic sensor. By comparing the average human walking speed the speed of the motors for the wheels have been fixed. As the mower is complete electrical there is no risk of pollution as like in engine driven mowers.