GPSを利用した自律型芝刈り機の開発

抄録

The purpose of this research is to develop the autonomous lawn mower controlled by using GPS. We aim to construct a system that mounts a control system on existing lawn mowers and automatically harvests turf of a predetermined range. In order to operate the robot, it is necessary to measure its own position. There are various positioning methods for self-position estimation. we can't use distance sensors so we develop the robot using satellite positioning and inertial positioning. The lawn mower runs along the target line by controlling steering. Its speed is constant. The target angle of steering is determined from the target line, the current position information from the GPS and the current direction of the lawn mower. The steering angle is controlled by PID control.