Development of an Autonomous Driving Control System for a Robotic Mower Using a Low-Cost Single-Frequency GNSS Compass

Abstract

We developed an autonomous driving control system for a robotic mower using a low-cost single-frequency GNSS compass and a low-cost single-frequency RTK-GNSS. Basis the result of the autonomous driving test, the cross-track error was 2.4 cm RMS and heading error was 2.1° RMS. The effectiveness of the autonomous driving control system was confirmed, because no additional cutting was needed when the error was within 10 cm. The suggestion was made that a low-cost single-frequency GNSS compass was a promising sensor for azimuth measurements. The results of this study indicate the possibility of adding the autonomous driving system to a self-propelled machine at low cost.