Path determination for automatic mowers

A power machine comprising:

• a main frame;
• a work element coupled to the main frame;
• a plurality of electrical actuators coupled to the main frame;
• an electrical power source configured to power the plurality of electrical actuators;
• and
• an electronic controller in communication with the plurality of electrical actuators, the electronic controller configured to:
• operate in a learn mode in response to an operator input, including:
• receiving a set of points associated with a geographical area,
• recording the set of points associated with the geographical area as a first work path for a work task associated with the geographical area, and
• in response to receiving an operator selection associated with the first work path:
• receive position related data associated with the power machine, wherein the position related data includes first data associated with a tractive system of the power machine and second data associated with a positioning system of the power machine;
• and
• control, based on the position related data, the power machine to perform the work task by traveling along the first work path in a first direction,
• wherein the control of the power machine includes:
• determining a current operation of the power machine;
• and
• in response to determining that the current operation is a turning operation, applying a first weighting factor to the first data and a second weighting factor to the second data, wherein the first weighting factor is greater than the second weighting factor.

A method of controlling a power machine, the method comprising:

• with an electronic processor, receiving position data associated with the power machine, wherein the position data includes wheel speed data and global positioning system (“GPS”) data;
• and
• with the electronic processor, controlling, based on the position data, the power machine to perform a work task associated with a geographical area by traveling along a set of points defining a work path for the work task, wherein the power machine traveling in a first direction along the work path includes traveling successively to each point included in the set of points,
• wherein controlling the power machine includes:
• in response to a current operation of the power machine being a turning operation, applying a first weighting factor to the wheel speed data and a second weighting factor to the GPS data, wherein the first weighting factor is greater than the second weighting factor.