Access control for an autonomous vehicle through a door in a doorway. A magnet is attached to the autonomous vehicle and a magnetometer is located some distance from the doorway. The magnetometer outputs a magnetometer signal in response to detecting the magnet, which causes the transmitter to transmit a detection signal. A doorway device is fixed about the doorway, and includes a receiver, and a locking mechanism with a locking pin. The doorway device retracts the pin to unlock the door for a predetermined period of time in response to receipt of the detection signal, and extents the pin to lock the door after the predetermined period of time ends.

A method for autonomous mower navigation includes receiving a return-to-zero encoded signal including a pseudo-random sequence, transforming the received signal to a non-return-to-zero representation, digitally sampling the non-return-to-zero signal representation in a time domain, filtering the sampled signal utilizing a reference data array based on the return-to-zero encoded signal to produce a filter output, and determining a location of the autonomous mower relative to a defined work area based on an evaluation of the filter output.

A device includes a propulsion unit configured to move the device and a steering unit configured to control the direction of the device. The device also includes a power unit configured to provide power to the propulsion unit and a charging unit configured to use an electric field to provide electrical power to the power unit. The device further includes a first magnetic sensor configured to determine a vector of one or more magnetic fields and a processor communicatively coupled to the propulsion unit, the steering unit, the power unit, and the magnetic sensor. The processor is configured to receive, from the magnetic sensor, a time-varying signal indicative of a magnetic field and determine, based on the time-varying signal, that the magnetic field is associated with an electrical power transmission line. The processor is further configured to cause the steering unit to direct the device toward the electrical power transmission line.

A robotic work tool system, comprising a robotic work tool, said robotic work tool comprising a position determining device for determining a current position and at least one deduced reckoning (also known as dead reckoning) navigation sensor, the robotic work tool being configured to determine that a reliable and accurate current position is possible to determine and in response thereto determine an expected navigation parameter, compare the expected navigation parameter to a current navigation parameter to determine a navigation error, determine if the navigation error is negligible, and if the navigation error is not negligible, cause the robotic work tool to change its trajectory to accommodate for the navigation error. Wherein the robotic work tool (100) is further configured to change the trajectory by aligning the trajectory with an expected trajectory, wherein the expected trajectory is determined as an expected direction originating from an expected position and wherein the robotic work tool (100) is configured to change the trajectory by returning to a position that should have been visited and aligning the trajectory with the expected direction originating from the expected position, said position that should have been visited being aligned with the expected direction originating from the expected position.

A method for detecting a position of a robotic vehicle relative to a boundary conductor surrounding a defined area includes the steps: providing an electrical current and a pseudo-random boundary signal, generating a current signal using the electrical current and the pseudo-random boundary signal, feeding the current signal into the boundary conductor to produce an alternating electromagnetic field, detecting magnetic field changes which are attributed to the alternating electromagnetic field, and generating a reception signal from the magnetic field changes, evaluating the reception signal with the generation of at least one reconstructed boundary signal, providing a reference signal identical to the pseudo-random boundary signal, carrying out a pattern recognition to determine a correlation value between the reference signal and the reconstructed boundary signal, determining the position inside/outside the defined area based on the determined correlation value. The electrical current and/or the pseudo-random boundary signal is/are amplitude-modulated using a modulation signal.

A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

A robotic work tool system (200) comprising a robotic work tool (100) comprising a controller (110), the controller (110) being configured to determine an area locality (310) associated with a hindrance; determine a classifier (C) associated with the area locality (310); and determine an action for the robotic work tool (100), wherein the action is based on the classifier (C).

A robotic work tool system (200) comprising a charging station (210) and a robotic work tool (100) configured to work within a work area (205) being divided into at least one section (405), the robotic work tool comprising a controller (110) for controlling the operation of the robotic work tool (100) to cause the robotic work tool to move along a trajectory, the robotic work tool (100) being configured to determine that a section boundary is encountered, and if so change the trajectory of the robotic work tool (100) to cause the robotic work tool to remain in the section.

An autonomous work vehicle is adapted to be guided by a signal emitted by a wire disposed at a working area. The autonomous work vehicle includes a control unit comprising a processor, and at least one sensor detecting the signal emitted by the wire. The wire includes an area wire surrounding the working area, and a shortcut wire disposed inside the working area. When the at least one sensor detects the shortcut wire while the autonomous work vehicle is tracing the area wire at a predetermined variable distance, the control unit is configured to control the autonomous work vehicle to trace the shortcut wire at a predetermined variable distance.

An autonomous work vehicle including a position information obtaining unit, a driving unit, a control unit, and a memory storing a destination position. The position information obtaining unit includes a GNSS receiver acquiring a position of the autonomous work vehicle. The driving unit includes a motor. The control unit includes a processor. The processor is configured to calculate a direction of the destination position relative to a current position of the autonomous work vehicle, wherein the direction is calculated using the current position of the autonomous work vehicle and the position of the predetermined destination, and the driving unit drives the autonomous work vehicle in a traveling direction toward the direction of the destination position calculated by the processor.