Dual RTK-GNSSを用いた位置と向きの同時計測と経路追従への応用

抄録

We have developed a weeding robot(Aigamo Robot). This robot works automatically using Global Navigation Satellite System (GNSS). Previous independent positioning measure included several meter differences and dispersion of the positions and directions. Therefore, in this study, we implement the Real Time Kinematic-GNSS (RTK-GNSS) on the right and left side of the robot in order to reduce these errors. This method can obtain the position and direction more acculately when the robot is not only in operation, but also under suspending. Moreover, this method can suppress the errors within about 10 cm to the south-southeast when the path tracking.