2P2-C08 磁気マップに基づいた屋内車輪型移動ロボットの自己位置認識(移動ロボットの自己位置推定と地図構築)

概要

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In localization of indoor mobile robots, dead-reckoning method is generally used. However, dead-reckoning method is known that it is unreliable because of uneven floors or wheel slippage. It is therefore necessary to augment the dead-reckoning method by measuring robot's position relative to known objects in the environment. In the present study, setting up landmarks in the environment is known as a simple method. However, setting up landmarks is hard work and requires expenses. In this paper, we proposed a method of using DC magnetic field occurred in the environment to localize robot's position. In this research, we use a magnetic sensor to read DC magnetic field in the environment, and use it to build a magnetic map. By matching magnetic map with magnetic sensor's readings, the robot is possible to accurately localize.
一般社団法人日本機械学会の論文
2008-06-06