Development of an Autonomous Driving Control System for a Robot Mower Using a Low-Cost Single-Frequency GNSS and a Low-Cost IMU / 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
- Resource Type
- Journal Article
- Authors
- Kenji IMOU; Sho IGARASHI; Toshio TSUTSUMI; Yutaka KAIZU; 五十嵐 翔; 堤 俊雄; 海津 裕; 芋生 憲司
- Source
- 農業食料工学会誌 / Journal of the Japanese Society of Agricultural Machinery and Food Engineers. 2018, 80(5):271
- Subject
- IMU
autonomous driving
global navigation satellite system
inertia measurement unit
levee
low-cost sensors
mower
robot
ロボット
低コストセンサ
全球測位衛星システム
畦畔
自律走行
草刈機
- Language
- Japanese
- ISSN
- 2188-224X
2189-0765
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.