“Building a few cm precision without GPS RTK.
What do you do, if you have a garden to mow, some spare Arduino devices and enthusiasm forembedded and control systems :) You build an Autonomous Lawn mower.
If you are not fond of any of these and just want to get the garden mowed, then buy acommercial product, it is much more faster and easier, than building, codingand testing a system like this.
Mechanical characteristics and wiring
I built the mechanical parts of the mower from an old control cabinet. The PLC had to be removed and the cabinet itself could be used. To hold the motors an aluminum profile is fixed onto the bottom of the cabinet. For protecting the motors from external mechanical injuries, I bended a shield over them from a metallic house of an old PC.”