In　order　to　realize　the　automatic　feeding　of　cows　in　the　pasture　environment,　we　propose　a　pusher　robot　integrated　navigation　system　using　multiple　sensors.　we　analyzed　and　designed　the　hardware　system　of　the　robot,　theintegrated　navigation　system　combined　incremental　encoders,　gyroscope,　and　ultrasonic　sensor.　We　use　encoders　and　gyroscope　to　estimate　the　pose　of　the　robot,　Kalman　filter　is　used　to　fuse　the　robot　pose,　and　ultrasonic　data　to　obtain　the　lateral　distance　between　the　robot　and　the　cow　pen.　The　experimental　results　show　that　the　real　route　of　the　robot　is　highly　consistent　with　the　set　route,　and　the　interference　of　the　cow＇s　head　is　effectively　suppressed.　At　the　velocity　of　0.2m/s,　the　lateral　distance　error　is　limited　to　0.055m.　©　VDE　VERLAG　GMBH　Berlin　Offenbach.