環境磁場に基づいた移動ロボットの自律走行

DOI Web Site BIBCODE 被引用文献1件 参考文献12件 オープンアクセス

書誌事項

タイトル別名
  • Navigation for Autonomous Mobile Robot Based on Environmental Magnetic Field
  • 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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説明

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.

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