>So let's say for the purposes of discussion that we would like to see the
>mowbot cover a specified area and not run outside this area. Let's also say
>that we would like the mowbot to cover the area in a reasonable amount of
>time. I think that I would probably like to exclude a random-path
>implementation from our discussion. The random-path solution will probably
>end up being a special case of any solution we come up with. One of the
>main problems that I see will be boundary detection.
>
I believe there are only 2 real detection requirements to meet the spec of
a robot that covers the whole area and stays within the bounds.
For the purpose of this discussion I am proposing a simplified layout:
1) the boundary region must be marked by either:
a) a solid fence at least 6" high
b) a non-grass region
2) the grass should be long enough to register with a set of slotted IR
fingers at the front of the robot.
The robot would use only these sensors:
1) Slotted IR fingers at the front (5 to 7 slots)
2) floating outer cover that produces bump information
Using these 2 sensors the robot would start on an outside edge and work
it's way in feeling around obstacles until the entire region was cut.
Dave Everett
Domestic Droids Website
http://members.xoom.com/Mowbot/