Here are some links that I think will help with the path planning portion of the lawn mower.
https://answers.ros.org/question/212614/complete-coverage-path-planning-ros/
http://wiki.ros.org/global_planner
http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS
https://www.dis.uniroma1.it/~nardi/Didattica/CAI/matdid/robot-programming-ROS-introduction-to-navigation.pdf
http://ompl.kavrakilab.org/
http://www.hessmer.org/blog/wp-content/uploads/2011/06/2d_Navigation_ROS.pdf
http://zkytony.com/documents/navguide.pdf
9/14/17