Island detection while tracking

[lichte]

Hi Bernard,

i have testet AzuritBer for a while and its looking really great. Nice behavior on perimeter and bumper.

I have an island in my garden and sometimes the mower ist catched there while tracking to station. I know i could avoid this by using RFID but i did not installed this till now.

Do you have any idea to implement an island detection in the code, maybe with counting the odo while tracking.
If the odo values differ over time --> escape from island

Greetings
Juergen

 

[bernard]

Simply add an obstacle in the island perimeter :
Mower bump on it, reverse a little ,roll 45 deg go forward few centimeters and make a big circle arc.
If the circle arc of island is smaller than the mower one ,mower leave automatically island.
You can adjust the circle arc into perimeter setting.

 

[lichte]

Thanks, but i dont want to add additional obstacles....i have enough in my garden

I will try this solution:

Stuck on an "island"

Hi. My name is Rulle (Roland) and I'm from Sweden. I have purchased an Ardumower kit, Pcb 1.2 mega and 1.0a8 azurit. In my garden I have flowerbeds, bushes and trees. Therefore, I have put the bwf around some "islands". It creates a problem when the mower will go charging. If it during...

forum.ardumower.de

 

[lichte]

Hi Bernad, i have seen you added the island detection to your code. Nice. I will test this.

 

[bernard]

Yes ,thanks for the link ,it help a lot.
You can also test :
Reduce speed (70%) near perimeter.
Wheel Speed management (from 80% to 120%) in slope or according to battery capacity.
When tilt detected mower stop blade,reverse and continue to mow.Blade restart after one minute.(help on particular tree or small ball)
New compass GY-273 based on QMC5883 is now possible.(But not really useful if locate inside the mower).