There's at least two approaches.
Each time the wheels revolve once, the mower moves forward a distance equal to the circumference of the wheel. You know this distance, and you know how much time it takes. Their ratio IS velocity: distance/time (in inches/second).
Or, you could just substitute values into the formula for linear velocity.
\(\displaystyle v = r \cdot \omega\)
where v is the linear velocity of a point on the circumference of the wheel, r is the radius, and ? is the angular velocity.
v = 15 * 15.71
Again, the units are inches per second. Convert to miles per hour.