RTK-GNSSを用いた芝刈りトラクタのための後付け自動運転システムの開発

抄録

In recent years, labor shortages have become a problem due to the declining birthrate and aging population. In this paper, we developed an add-on automatic driving system for ride-on lawn mower. This device has a compact design by using a wire drive, so it does not get in the way of the driver and can be operated from the top of the device even after installation. This system uses two RTK-GNSS to estimate its own position and pose and follow the driving route. The accuracy of the proposed system was verified by driving in a straight line using an actual lawn mower, and it was confirmed that the system has sufficient accuracy for lawn mowing applications.