Simulation and experiment study for the navigation of the small autonomous weeding robot in paddy fields

In this paper, the autonomous weeding robot for the paddy field is developed. Developed robot is the small two-wheel robot which weeds by running around the paddy field by using the information given from the direction sensor and the GPS receiver. For this robot, the traveling model that take into account the influences of the soil and the GPS error as the w.G.n. and the Wiener process is derived and the conditions for these are investigated by experiments. Behaviors of the robot under the noisy conditions are tested by numerical examples.