Patent ID: 11944032
Assignee: RENU ROBOTICS CORP.
Field: Control (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. An autonomous mowing system comprising:
a memory configured to hold a set of path data for a maintenance plan associated with a plurality of spaced apart maintenance areas, each maintenance area in the plurality of spaced apart maintenance areas defined by a respective maintenance area definition, the set of path data comprising a set of node data for a set of nodes that define path endpoints for a set of paths, wherein each path in the set of paths is defined by a respective pair of endpoints, the set of paths comprising:
a set of mow paths generated using the maintenance area definitions to cover the plurality of spaced apart maintenance areas, wherein each of the plurality of spaced apart maintenance areas does not overlap the others of the plurality of spaced apart maintenance areas; and
a plurality of transit paths, the plurality of transit paths comprising transit paths between the maintenance areas in the plurality of spaced apart maintenance areas, wherein the set of node data includes path cost data and wherein the set of node data includes node data for a transit path endpoint node, the node data for the transit path endpoint node specifying a disabled cutting state for a respective transit path from the plurality of transit paths;
a processor coupled to the memory;
a computer readable medium coupled to the processor, the computer readable medium storing a set of instructions executable by the processor, the set of instructions comprising instructions for:
using the set of path data, determining:
a plurality of candidate routes, wherein each route in the plurality of candidate routes uses mow paths from the set of mow paths and transit paths from the plurality of transit paths to serially and fully cover the plurality of spaced apart maintenance areas; and
a total cost for each of the plurality of candidate routes;
determining a least cost route from the plurality of candidate routes; and

causing an autonomous mower to execute the maintenance plan using the least cost route to traverse between and serially mow the plurality of spaced apart maintenance areas.