Abstract: A lawnmower includes a cutting blade, a laser scanner rotatably mounted above the cutting blade, a first motor rotatably driving the laser scanner, and a processor communicatively coupled to the laser scanner. The processor may obtain laser scanner measurements of a plurality of angles around the lawnmower, each laser scanner measurement including a distance and a received signal strength. The processor may classify a surface at each of the angles based on the distance and the received signal strength. The processor may determine a navigation path of the lawnmower based on the classification of the surface at each of the angles. The lawnmower may also include a second motor operably coupled to one or more drive wheels. The processor may control the second motor to move the lawnmower along the navigation path.

Abstract: The disclosure provides a lawnmower including a cutting blade, a laser scanner rotatably mounted above the cutting blade, a first motor rotatably driving the laser scanner, and a processor communicatively coupled to the laser scanner. The processor may obtain laser scanner measurements of a plurality of angles around the lawnmower, each laser scanner measurement including a distance and a received signal strength. The processor may classify a surface at each of the angles based on the distance and the received signal strength. The processor may determine a navigation path of the lawnmower based on the classification of the surface at each of the angles. The lawnmower may also include a second motor operably coupled to one or more drive wheels. The processor may control the second motor to move the lawnmower along the navigation path.