Systems, methods, and computer-readable media are disclosed for autonomous tennis ball retrieval robots. Example robots include a housing comprising a ball inlet, a first wheel coupled to the housing, a ball collection portion coupled to the housing and configured to receive a plurality of balls, a first arm and a second arm removably coupled to the housing, where the first arm and the second arm together guide balls towards the ball inlet, a ball direction device configured to direct balls from the ball inlet to the ball collection portion, and a first sensor coupled to the first arm, where the autonomous tennis ball retrieval robot is configured to detect obstacles using the first sensor. The autonomous tennis ball retrieval robot may be configured to retrieve balls disposed in an ambient environment, and may be configured to be transported in a rolling mode using the first wheel.

A method, apparatus, and system are disclosed for a robot with tennis ball gathering capabilities. A robot is configured to collect, transport, and deposit for storage tennis balls and other light-mobile sports equipment such as are used in table tennis, badminton, squash, pickleball, golf, basketball, dodgeball, floor hockey, indoor soccer, etc., to assist a player in practice without need for additional support personnel or manual ball retrieval by the player.

A path generating method includes setting a moving direction at each of two positions, setting a first turning circle with one of the positions as a contact point and the moving direction as a turning direction, setting a second turning circle that is within a specific area, setting a Dubins path that starts from a predetermined point of the second turning circle or ends at the predetermined point, and selecting, as a movement path, a path that is within the specific area among paths each including the first turning circle and the Dubins path.

A ground maintenance system having a mower that can include a first traveling unit which can travel on a ground, a first operating unit which can be joined to the first traveling unit and include a blade which can mow grass on the ground, and a guide member provided in front of the first traveling unit. While the first traveling unit travels forward, objects on the ground (for example, balls) in contact with the guide member can move along the guide member. The objects can move laterally and rearward away from the mower. In some embodiments, the ground maintenance system can further include a collector, attached to or separate from the mower, that can collect the objects on the ground.