動的撮像された鳥瞰図を用いた畦畔除草ロボットの横滑り推定手法の提案

抄録

In recent years, the aging of agricultural workers and the reduction in work force is progressing. Especially in farm work, the management of levee is very burdensome for workers. Conventionally, a brush cutter has been used for levee management, but this task is very dangerous for workers. Therefore, various robots have been developed for levee management. In the development of robots, it is important to suppress sideslip to improve working efficiency. In addition, the Ministry of Agriculture, Forestry and Fisheries is promoting technological innovation to autonomously drive robots. In this research, we propose a slip estimation method using a drone and develop a system that linearly controls the slope. As a result, it was confirmed that the proposed method can stably estimate sideslipping and is sufficiently applicable to straight-line automation control.