Abstract
In this research, we develop an autonomous mowing robot in orchards using high-precision GNSS and a ROS architecture. The robot is equipped with two crawlers, a GNSS module and an antenna, and a 3D-LiDAR. As a high-precision GNSS, Network-RTK-GNSS and CLAS by Quasi-Zenith Satellite System, Michibiki, can be chosen depending on the situation. We investigate the positioning performance of Network-RTK-GNSS in some orchards including outdoor plantations and plastic greenhouses. Some demonstrations in outdoor environments including fallow fields were conducted by the developed autonomous mowing robot.
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