The self-propelled mower has a meandering operation mode that can reduce the cutting load and continue mowing. In a self-propelled mower that has a rotary cutting blade that rotates in a plane substantially parallel to the ground, the rear wheels are independently controlled by a drive motor, and mowing while traveling autonomously in the mowing area, The control device operates forward, stop, reverse, and stop on the other wheel while performing straight operation on one wheel, and then on one wheel when performing straight operation on the other wheel. A meandering mode is provided in which the operation of forward, stop, reverse, and stop is repeated, and by repeating these operations, the meandering mode is performed while meandering left and right within the entire length of the mower. Moving locus of the center axis of the cutting blade becomes as shown by the dotted line 61 in a serpentine mode, cutting width is W C.自走式草刈機において、刈込負荷を低減させて草刈りを継続できる蛇行運転モードを設けた。地面と略平行な面で回転するロータリー式の刈刃を有し、後輪が駆動モータにより独立して制御され、草刈領域内を自律的に走行しながら草刈りを行う自走式草刈機において、制御装置は一方の車輪で直進動作を行っている際に、他方の車輪の前進→停止→後退→停止の操作を行い、次に他方の車輪で直進動作を行っている際に、一方の車輪の前進→停止→後退→停止の操作を行い、これらを繰り返すことにより草刈機の全長の範囲内で左右に蛇行させながら進行方向の刈り込みを行う蛇行モードを設けた。蛇行モードでは刈刃の中心軸の移動軌跡が点線６１のようになり、刈り取り幅がＷＣとなる。
