Development of Maintenance Support Robot System to Expansive Plant Field

-Part 2, GNSS Positioning Along Field-modeled Course-

Abstract

The purpose of this research is development of maintenance support robot system applied to expansive plant filed. The key function is autonomous movement along the way to the target points in outdoor environment. For the robot design, the appropriate components are selected as a two-wheel-drive robot platform, a note PC, a GNSS receiver, a scanning rangefinder and other sensors. They are integrated to the experimental robot system and all communicated with ROS program. For the outdoor test, field driving course is planned along paved roads in the campus area. Positioning is executed by GNSS-RTK measurement. The results agree well to the existing locations.