Avoiding barriers in control of mowing robot

Due to complicated barriers, it is difficult to track the path of the mowing robot and to avoid barriers. In order to solve the problem, a method based on distance-measuring sensors and fuzzy control inputs was proposed. Its track was composed of beelines and was easy to tail. The fuzzy control inputs were based on the front barrier distance and the difference between the left and right barrier distance measured by ultrasonic sensors; the output was the direction angle. The infrared sensors around the robot improved its safety in avoiding barriers. The result of the method was feasible, agile, and stable. The distance between the robot and the barriers could be changed by altering the inputs and outputs of fuzzy control and the length of the beelines. The disposed sensors can fulfill the need of the robot in avoiding barriers.