I have a small electric mower that I built that is using rear wheel drive skid steering and RTK w/ Heading GPS. Required RTK Fixed for bot to move so it’s solid. I have an algo on companion computer that will tune the speed of the mower based on feed back from current draw on the 2 cutting blade motors. I am running dual electric cutters with 4 razor blades per cutting disc. The cutting motors are BLDC with Feedback and plenty of cutting capability, but I want to keep current draw down by slowing bot speed. My issue is when I change bot speeds, the bot will start weaving at the slower speeds (likely excessive FF for speed). Speeds vary, but on really thick grass the speed could be reduced to 25% of the regular cutting speed then move back up to rated speed as grass thins out. Should I be tuning for steering parameters based on several speeds and set the steering params each time I change speeds? Is the speed change coded to adjust automatically based on speed and I have something set wrong? The bot cuts straight lines (even to the point of repeatable wheel lines) with great turns when it is cutting at my fully tuned speed of .375 m/s. When trying to cut around obstacles, I would like to be able to drop the speed to have better performance to stay closer to the obstacles as well. Right now at lower speeds it weaves and runs into the obstacle.
Thoughts?