Position measurement for a mobile weed mowing robot by a camera and a laser rangefinder

Abstract

We have developed a position measuring device (we call a tracking laser rangefinder) for autonomous locomotion of a weed mowing robot. The developed rangefinder tracks the red ball on the robot by camera and measure the distance between the rangefinder and the robot by a laser rangefinder. The rangefinder can measure the robot position from 1 m to 30 m at the accuracy with 0.08 m when the robot moves at a maximum speed of 0.6 m/s.