1. Simulated Path Planning for Auburn’s Autonomous Lawnmower John Harrison William Woodall

2. Presentation Overview Background on the project Details about the problem we are going to address Prior Work Boustrophedon Cellular Decomposition Our Work Results Demo Summary and Questions

3. Project Background Ion Robotics Autonomous Lawnmower Competition Project started in 2009 as the senior design project for a number of students Designed and built the lawnmower from the ground up Competed in the summer of 2010, received 3rd place in the dynamic competition Continued work 2010-2011 with to improvements to the EKF and path planning Competed in the summer of 2011, received 2nd place in the dynamic competition

4. Dynamic Cutting of an Irregular Field Field Properties Irregular shape Randomly located flower bed Randomly controlled and timed dog Grading based off grass cut in various plocations

5. Previous Strategy Video of old strategy

6. Boustrophedon Cellular Decomposition

7. Our Strategy Intersection points: Given an arbitrary polygon Find the leftmost edge of the bounding box. Offset from the edge a given width and find the intersection points along the outer edge of the polygon

8. Our Strategy Continued. Ordering Points to Follow: Order the lines by distance to the current robot location Find the closest line Move the beginning of the line Follow the line to the end Sort the lines by distance to the current position and repeat

9. Results

10. Demo

11. Summary and Questions Through this presentation we have covered: Background on the project Details about the problem we are going to address Prior Work Boustrophedon Cellular Decomposition Our Work Results Demo Questions?