Development of Autonomous Brush-cutting Robot Operating Brush-cutter

本研究提出并开发了一种自主剪草机器人，通过操作DIY店销售的剪草机，对生长较长的草进行剪草。机器人移动基座由中心铰接体构成，其有效载荷为100kg，重量为30.3kg。为了在没有剩余扫描空间的情况下实现切割区域的安全轨迹规划，通过参与TSUKUBA挑战开发了自主控制程序。今后还将进行实验论证。

This research proposes and develops an autonomous brush-cutting robot which cuts grasses growth relatively long by operating the brush-cuter selling at DIY shop. The robot moving base is constructed with a center articulated body of which payload and weight are 100kg and 30.3kg, respectively. In order to achieve the safety trajectory planning in the cutting area without the scanning space that is left, an autonomous control program is developed through participating in TSUKUBA challenge. For the future the experimental demonstration will be done.