Abstract
we have developed a solar electric farming robot. In this system, various functions such as materials conveyance, power supply and positioning are distributed between a delivery vehicle and a working vehicle. This paper presents an affordable and high-precision 2-D localization method for positioning of the working vehicle. Particularly, we report the development of 2-D localization using a single laser distance sensor, and the results of vehicle navigation experiments, in which the vehicle repeated stop-and-go driving, stopping every 1m to a distance of 20m. The calculated RMS localization error in stopping was found to be about 6 mm in the traveling direction and about 12mm in the transverse direction.
