Customization of Adaptive Planning

Suggestion and Feature Requests
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1

Up until now, I’ve almost exclusively been using the spiral mowing pattern to reduce how many sharp turns occur in my yard due to its very irregular shape. Recently I tried setting a couple of the areas to adaptive to see how well they work and was quite disappointed with the results. It seems like the mapping algorithm is very heavily weighted towards doing a singular parallel line set rather than trying to maximize straight line runs and or minimize in place turns. There also really aren’t any options to control how the mapping is done on the adaptive setting. So here’s what I would like to see:

  1. Routing priority - Set which aspect of the routing is most important
    1. Parallel lines - maximize the area mapped with parallel lines in one direction
    2. Minimize sharp turns - parallel lines create sharp turns at the end. Prioritize spiral patterns and only use parallel lines tor long sections of uninterrupted travel.
    3. Multi-directional parallel lines - prioritize parallel lines over spiral, but split narrower sections and where long lines bridge a gap into parallel lines of a different direction.
  2. Adjustable parameters - parameters that control how the mapping is done in the different priority modes
    1. Minimum distance for parallel lines - If the distance that would be drawn for a parallel line is less than a set distance, that area has to be covered by a parallel line of a different direction or a spiral path according to the priority rules.
    2. Minimum turning radius - if a spiral path would follow a turning radius less than a set length, the area should instead be covered by parallel lines according to the priority rules.
    3. Minimum straight line segment length - when plotting spiral path, straight segments must be above the set value in length
    4. Min/Max Angle for Turn Type - set the min or max (as appropriate) angle for whether Yarbo makes a continuous smooth turn, an in place medium (less than 90 deg.) turn, a smart turn for sharper angles, and large (90+ deg.) in place turns.

There’s probably some more customization that could be done, but I think those would be a good start.

2

I’d just settle for smooth arcing turns and a Zamboni pattern.

3

“smooth arcing turns”!

4

Hi there,

Thank you for sharing your thoughts and detailed feedback.

We understand that there is still room for improvement in the Adaptive mowing pattern, and we appreciate you taking the time to explain where you feel the current behavior could be optimized.

At this time, we are not planning to introduce user-adjustable parameters for customizing the Adaptive pattern. However, your feedback highlights areas where the underlying algorithm could be improved, and we appreciate you bringing these points to our attention.

Thank you again for the suggestion and for helping us continue to improve the mowing experience.