Đồ án tốt nghiệp - Research and implementation of an autonomous lawn mowing robot

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION THESIS

RESEARCH AND IMPLEMENTATION OF AN
AUTONOMOUS LAWN MOWING ROBOT
Student: Hồ Văn Vạn
Vũ Hoàng Quý
Lê Công Tạo

ID: 21145622
ID: 21145608
ID: 21145610

Course: 2021
Major: Automotive Engineering Technology
Supervisor: M.Sc. Duong Nguyen Hac Lan

Ho Chi Minh City, June 2025

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION THESIS

RESEARCH AND IMPLEMENTATION OF AN
AUTONOMOUS LAWN MOWING ROBOT

Student: Hồ Văn Vạn
Vũ Hoàng Quý
Lê Công Tạo

ID: 21145622
ID: 21145608
ID: 21145610

Course: 2021
Major: Automotive Engineering Technology
Supervisor: M.Sc. Duong Nguyen Hac Lan

Ho Chi Minh City, June 2025

i

THE SOCIALIST REPUBLIC OF VIETNAM

Independence – Freedom– Happiness


Ho Chi Minh City, June 10, 2025

GRADUATION PROJECT ASSIGNMENT
Student name: Hồ Văn Vạn

Student ID: 21145622

Student name: Lê Công Tạo

Student ID: 21145610

Student name: Vũ Hoàng Quý

Student ID: 21145608

Major: Automotive Engineering Technology

Class: 21145FIE

Supervisor: M.Sc. Duong Nguyen Hac Lan

Phone number: 0937475456

Date of assignment: 25/01/2025

Date of submission: 10/06/2025

1. Project title: Research and Implementation of an Autonomous Lawn Mowing Robot

2. Content of the project:
- Programming an autonomous lawn-mowing robot capable of mapping the environment and
planning appropriate paths to cut grass while avoiding obstacles.
- Designing control software for the robot, including both autonomous and manual operation
modes

-

3. Final product:
Autonomous Lawn-Mowing Robot Model
Graduation Project Report
CHAIR OF THE PROGRAM

SUPERVISOR

(Sign with full name)

(Sign with full name)

ii

THE SOCIALIST REPUBLIC OF VIETNAM

Independence – Freedom– Happiness
-

SUPERVISOR’S EVALUATION SHEET
Student name: Hồ Văn Vạn

Student ID: 21145622

Student name: Lê Công Tạo

Student ID: 21145610

Student name: Vũ Hoàng Quý

Student ID: 21145608

Major: Automotive Engineering Technology

Class: 21145FIE

Project title: Research and Implementation of an Autonomous Lawn Mowing Robot
Supervisor: M.Sc. Duong Nguyen Hac Lan
EVALUATION
1. Content of the project:
............................................................................................................................................
.......................................................................................
...

...
B (4GB
RAM)

1,800,000

1,800,000 Official
imported
version

or

2

1080p USB Camera 1

600,000

600,000

HD

3

LiDAR
A1 1
(YDLIDAR A1)

2,500,000

2,500,000 360° scanning
laser sensor

4

Arduino Uno R3

1

150,000

150,000

Popular clone
version

5

L298N
Motor 1
Driver Module

60,000

60,000

For small DC
motors

6

DC Motor
Encoder

with 2

150,000/unit 300,000

For
position/speed
feedback

7

PCA9685
Channel
Driver

16- 1
PWM

355,000

355,000

I2C
servo
motor
controller

8

MPU6050
(Gyro 1
and Accelerometer
Sensor)

60,000

60,000

I2C
communication

9

18650
Battery 2
Holder
with
Charging/Protection
Circuit

120,000/unit 240,000

Micro
USB
charging port

Full
webcam

132

10

12 Li-ion
Batteries

11

18650 1 set

240,000

240,000

2500–
3000mAh per
cell

YP100 Tank Robot 1 set
Chassis

1,700,000

1,700,000 Aluminum
frame,
12V
motors

12

775 Motor

1

130,000

130,000

12VDC, 15000
RPM

13

Cutting Blade

1

80,000

80,000

Blade for grass
cutting

14

BTS7960
43A 1
High-Power Motor
Driver

76,000

76,000

For high-load
motor control

15

Miscellaneous
1
(wires,
screws,
tools, etc.)

500,000

500,000

Supporting
materials and
tools

Total Estimated Cost: 8,831,000 VND
Note: The total cost above does not include expenses related to hardware failure,
maintenance, or mechanical fabrication.
SOURCE CODE REPOSITORY
Due to the large volume and complexity of the source code developed for this
project, the complete implementation is hosted on GitHub. This allows for better
organization, version control, and accessibility for future reference or evaluation.
GitHub Repository: https://github.com/TUPM96/xe_cat_co
The repository contains:
•

ROS 2 packages used for navigation, mapping, and localization

•

Integration code for sensors such as LiDAR A1, 1080p camera, MPU6050,
and motor drivers

•

Custom launch files and parameter configurations

•

Source code for control algorithms and motion ution

•

System setup instructions and documentation
133

The control software for the automated lawn mower is developed as an
Android application. The complete source code, configuration files, and related
documentation are hosted on GitHub.
GitHub Repository https://github.com/TUPM96/xe_cat_co_android
The repository contains:
•

Communication with the control device via network (Wi-Fi/Bluetooth)

•

Displaying the mower’s status, cutting areas, and remote control features

•

Configuring operational parameters and monitoring sensors

134