Development of an Autonomous Driving Control System for a Robotic Mower Using a Low-Cost Single-Frequency GNSS Compass

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  • IGARASHI Sho
    Graduate School of Agriculture and Life Sciences, The University of Tokyo
  • KAIZU Yutaka
    Graduate School of Agriculture and Life Sciences, The University of Tokyo
  • TSUTSUMI Toshio
    Sanyokiki Co., Ltd.
  • IMOU Kenji
    Graduate School of Agriculture and Life Sciences, The University of Tokyo

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Other Title
  • 低コスト1周波GNSSコンパスとRTK-GNSSを用いたロボット草刈機の自律走行制御システムの開発
  • テイコスト 1シュウハ GNSS コンパス ト RTK-GNSS オ モチイタ ロボット クサカリキ ノ ジリツ ソウコウ セイギョ システム ノ カイハツ

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Abstract

<p>We developed an autonomous driving control system for a robotic mower using a low-cost single-frequency GNSS compass and a low-cost single-frequency RTK-GNSS. Basis the result of the autonomous driving test, the cross-track error was 2.4 cm RMS and heading error was 2.1° RMS. The effectiveness of the autonomous driving control system was confirmed, because no additional cutting was needed when the error was within 10 cm. The suggestion was made that a low-cost single-frequency GNSS compass was a promising sensor for azimuth measurements. The results of this study indicate the possibility of adding the autonomous driving system to a self-propelled machine at low cost.</p>

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