Abstract: Due to the acceleration of urban planning and construction and the continuous enhancement of residents' awareness of environmental protection,the green area has also increased steadily.The increase in the pruning of green areas consumes a lot of manpower,material and financial resources.Intelligent lawn mowing robots with mixed logic algorithms can improve this problem.Based on the STM32F407ZGT6 Explorer microprocessor as the main control chip,based on the completion of the functional design and model making of the lawnmower robot,the path planning algorithm of the intelligent lawnmower robot is mainly stu-died.Specifically,the internal spiral algorithm and the A-star pathfinding algorithm are combined to determine the motion trajectory of the mowing robot.First,the inner spiral algorithm is used to find the dead point of the operation,and then the A-star pathfinding algorithm is used to determine the nearest operation in the unmowed area Point,at the nearest point of the job,continue to walk with the inner spiral algorithm until it traverses the entire mowing area.The experimental results show that the designed intelligent mowing robot can achieve the goals of high coverage rate,low repetition rate,and precise obstacle avoidance.It also improves mowing efficiency,meets the needs of energy saving and environmental protection,and achieves the goal of saving costs.

Key words: Hybrid algorithm, Intelligent mowing robot, Path planning, STM32F407ZGT6, System design