Measurement of Displacement for a Mowing Robot

Abstract

We are developing a robot that performs mowing while autonomously moving. In order to perform autonomous movement, it is necessary to perform self position identification. This paper proposes an odometry method for estimating its own position. We used a method to measure the relative displacement with the earth by the optical flow of the camera image. It was shown that measurement can be done by verification experiment. The problem is the error due to the vertical vibration of the robot.