Autonomous Robot Prototype for Grass Mowing

Abstract

The use of autonomous devices is becoming a common practice, mainly because it does not require human intervention and it can be applied in various fields such as agriculture, surveillance, security, exploration, personal assistance, among others. An autonomous mobile robot should be capable of determining the appropriate course of action based on the environmental information it can gather in its vicinity. This entails the ability to modify a pre-established trajectory when encountering an obstacle, while still accomplishing the assigned task through the utilization of multiple sensors and sophisticated algorithms. These sensors enable the robot to navigate, avoid obstacles, and carry out specific tasks. This document will present the implementation of an autonomous mobile robot designed for grass mowing, which utilizes various sensors including encoders, IMU, laser, and GPS for navigation from an initial point to a final destination, ensuring obstacle avoidance. The system uses a Raspberry PI 4 with ROS Melodic framework.