In this paper, the design of an autonomous 4WD grass-cutting robot optimized to cover the area in a systematic fashion is described. The system also abandons the use of intricate sensor-based navigation in favor of a Timed Open-Loop Pattern that is played out with the help of an Arduino Uno. This is a spiral-in navigation strategy to have the lawn covered completely. The mechanical design has 12V Johnson-geared motors with high-torque locomotion and a separate DC motor with the cutting blade. The operational supervision in real time is made possible with the help of ESP32-CAM streaming a live video over a mobile hotspot.
Adhikari et al. (Thu,) studied this question.