Navigation for Autonomous Mobile Robot Based on Environmental Magnetic Field
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- ANN RAHOK SAM
- Faculty of Engineering, Utsunomiya University
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- SHIKANAI Yoshihito
- Faculty of Science and Technology, Shizuoka Institute of Science and Technology
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- OZAKI Koichi
- Faculty of Engineering, Utsunomiya University
Bibliographic Information
- Other Title
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- 環境磁場に基づいた移動ロボットの自律走行
- カンキョウ ジバ ニ モトズイタ イドウ ロボット ノ ジリツ ソウコウ
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Description
This paper describes a robust navigation system using environmental magnetic field for outdoor autonomous mobile robots. In this research, a 3-axis magnetic sensor is used to scan DC magnetic field in the outdoor environment to build a database. The robot navigates by performing trajectory tracking based on the database. Furthermore, by performing data matching between sensor readings against the database at the areas where the characteristic changes of the magnetic field are detected during the navigation, the robot is able to localize with a reliable accuracy and by applying the localization results to compensate the odometry, the cumulative error can be eliminated.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 47 (3), 166-172, 2011
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390001204503422720
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- NII Article ID
- 130004549537
- 10028213604
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- NII Book ID
- AN00072392
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- BIBCODE
- 2011TSICE..47..166A
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 11118730
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed