THE CURRENT PLAN:

Infrared Sensors (Heat):

Camera (Visual):

The camera sensor will be programmed to take a picture at a certain time interval during the original drive of the mower and again when the mower is self driving. This will check if the future path is the same as the past path.

Wired Cage:

As the final safety measure, there will be a wired cage that turns the mower off if its hit. This is to ensure that if for some reason the multiple sensors do not detect an obstacle, the mower will still not be able to run this obstacle over. The cage will be built with four poles on the corners of the mower, on these poles there will be a few wires tightly wrapped around the outside of the poles; the wires will be wired in series with the power of the mower, they will also easily be pulled from the circuit. So, when anything hits the wires, they will pull out of their terminals creating a gap in the circuit and turning the mower off.