Development of an Autonomous Driving Control System for a Robot Mower Using a Low-Cost Single-Frequency GNSS and a Low-Cost IMU

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  • KAIZU Yutaka
    Graduate School of Agriculture and Life Sciences, The University of Tokyo
  • TSUTSUMI Toshio
    Sanyokiki Co., Ltd.
  • IGARASHI Sho
    Graduate School of Agriculture and Life Sciences, The University of Tokyo
  • 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RTK-GNSSと低コストIMU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 RTK-GNSS ト テイコスト IMU 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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<p>To realize a mowing robot for levees of agricultural fields, an autonomous driving control system was developed using a low-cost single-frequency real-time kinematic Global Navigation Satellite System (RTK-GNSS) receiver and a low-cost Inertia Measurement Unit (IMU). The difference of observation values between a single-frequency RTK-GNSS receiver and a dual-frequency one was 0.8 cm RMS even while the mower was running. As a result of autonomous running test, the lateral and heading errors were 2.5 cm RMS and 2.2° RMS respectively. The robot mower was capable of running within the target lateral error of 10 cm and the effectiveness of the autonomous controller developed in this research was confirmed. The speed of the mower was 0.54 m/s on average and the workable area per one hour was 770 m2.</p>

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