2018 Volume 80 Issue 5 Pages 271-279
To realize a mowing robot for levees of agricultural fields, an autonomous driving control system was developed using a low-cost single-frequency real-time kinematic Global Navigation Satellite System (RTK-GNSS) receiver and a low-cost Inertia Measurement Unit (IMU). The difference of observation values between a single-frequency RTK-GNSS receiver and a dual-frequency one was 0.8 cm RMS even while the mower was running. As a result of autonomous running test, the lateral and heading errors were 2.5 cm RMS and 2.2° RMS respectively. The robot mower was capable of running within the target lateral error of 10 cm and the effectiveness of the autonomous controller developed in this research was confirmed. The speed of the mower was 0.54 m/s on average and the workable area per one hour was 770 m2.
