Patent ID: 9516806
Filing Date: 2016-12-13
CPC Classification: A01B,A01D,G05D,Y10S

Claim Text:
1. A method of mowing an area with an autonomous mowing robot, the method comprising: storing, in non-transient memory of the robot, a set of geospatially referenced perimeter data corresponding to positions of the mowing robot as the mowing robot is guided about a perimeter of an area to be mowed; comparing, via a controller communicably coupled to the non-transient memory of the robot, at least two adjacent data points from the set of geospatially referenced perimeter data to determine which point corresponds to a position that is adjacent both mowable and unmowable portions and that is directly adjacent other points separating mowable and unmowable portions; removing, via the controller, one or more of the at least two adjacent data points from the set of perimeter data, thereby creating a redacted data set; and controlling the mowing robot to autonomously mow an area bounded by a boundary corresponding to the redacted data set, including altering direction of the mowing robot at or near a position corresponding to data in the redacted data set so as to redirect the robot back into the bounded area.