Magnetic landmark-based position correction technique for mobile robots with hall sensors

Choi, Byung Yong; Kim, Bumsoo; Jin, Sung Min; Koo, Ja Choon; Chung, Wan Kyun; Choi, Hyouk Ryeol; Moon, Hyungpil

doi:10.1007/s11370-010-0062-7

Cited by 13 publications

(9 citation statements)

References 15 publications

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“…The device's screening may also be done with infrared [15]; however, it has a higher cost of implementation compared with QR code reading systems [16]. Coordinate points using RFID are also used for local coordinate determination [17] and magnetic marks increase the precision [18].…”

Section: Cyber-physical Production Systems (Cpps)mentioning

confidence: 99%

A Conceptual Study Towards Delivery of Consumable Materials to Aircraft Assembly Stations Performed by Mobile Robots Based on Industry 4.0 Principles

Gf¹,

Hern²,

Ac³

et al. 2017

J Aeronaut Aerospace Eng

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This paper aims to present a conceptual study that integrates mobile robots and communication systems developed for delivery of materials to workstations of aircraft assembly lines. In the interest of providing deliveries of material in heights, a concept of a customized UAV (Unmanned Aerial Vehicle) has been proposed herein in order to assist the labor needs related to logistics requirements. A picker aerial vehicle has been designed to perform the operations through a man-machine interaction based on a proper software application developed for this specific intention. In order to integrate this whole process, an AGV (Automated Guided Vehicle) is used to deliver the materials on the floor and to transport the proper aerial vehicle to takeoff in specific places. Accordingly, it is understood that these integrated automated systems commanded by CPS (Cyber-Physical Systems) could manage the information, perform tasks and contribute to a better process. Therefore, the major contribution and novelty of this paper is to show how an adapted UAV in conjunction with a special AVG and a tailor-made software application could bring several benefits to the aircraft manufacturing industry. Thus, this approach has looked for better results in terms of productivity, safety of people and costs related to down-time, number of ground support equipment and wastes associated with movements. A case study has demonstrated earnings of approximately USD 300 k per year. This proposal can also improve the flexibility of work tasks; manage production routines due to the balancing of the assembly line and easiness to attend requests online, adding value and providing a greater efficiency of the process based on Industry 4.0 trends. A proper framed-model is presented as a novelty in order to evidence advantages reached when robotics and internet of things are combined.

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Section: Cyber-physical Production Systems (Cpps)mentioning

confidence: 99%

A Conceptual Study Towards Delivery of Consumable Materials to Aircraft Assembly Stations Performed by Mobile Robots Based on Industry 4.0 Principles

Gf¹,

Hern²,

Ac³

et al. 2017

J Aeronaut Aerospace Eng

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“…Localization systems based on magnetic landmarks have been proven in many applications [10], [11], [12]. In our approach, landmarks made up of commercially available magnetic sheets are used for indication of cell borders.…”

Section: Introductionmentioning

confidence: 99%

Magnetic strips as landmarks for mobile robot navigation

Škrabánek

Vodička

2016

2016 International Conference on Applied Electronics (AE)

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In this paper, a low-cost localization system designed for mobile robots is introduced. The system has been developed for a teaching aid where a mobile robot operates in a maze. The mobile robot is navigated by a high level control system where path-planning is executed; however, autonomous execution of the plan is required from the robot. The robot uses magnetic landmarks, among others, for its localization. Detection of the landmarks is realized by a triple axis magnetometer sensor. The landmarks are made from a commercially available magnetic sheet. Construction of the sheets limits this approach. A successful application has to meet some requirements which are described in this paper.

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“…By alternating the magnets' arrangement, it is possible to generate various types of multiple landmarks which are all distinguishable from one another. There are three types of configurations which are useful for arranging several magnetic bars repeatedly with no overlap and no gap to constitute a two-dimensional workspace: equilateral triangular, rectangular, and hexagonal configurations [17]. Furthermore, the tracking error can be measured from the distance between the robot and the landmark, which is computed from the magnetic field strength of the landmark.…”

Section: Introductionmentioning

confidence: 99%

Localization Using Magnetic Patterns for Autonomous Mobile Robot

You

Choi

et al. 2014

International Journal of Advanced Robotic Systems

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In this paper, we present a method of localization using magnetic landmarks. With this method, it is possible to compensate the pose error (x e , y e , θ e) of a mobile robot correctly and localize its current position on a global coordinate system on the surface of a structured environment with magnetic landmarks. A set of four magnetic bars forms total six different patterns of landmarks and these patterns can be read by the mobile robot with magnetic hall sensors. A sequential motion strategy for a mobile robot is proposed to find the geometric center of magnetic landmarks by reading the nonlinear magnetic field. The mobile robot first moves into the center region of the landmark where it can read the magnetic pattern, after which tracking and global localization can be easily achieved by recognizing the patterns of neighboring landmarks. Experimental results show the effectiveness of the sequential motion strategy for estimating the center of the first encountered landmark as well as the performance of tracking and global localization of the proposed system.

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Magnetic landmark-based position correction technique for mobile robots with hall sensors

Cited by 13 publications

References 15 publications

A Conceptual Study Towards Delivery of Consumable Materials to Aircraft Assembly Stations Performed by Mobile Robots Based on Industry 4.0 Principles

A Conceptual Study Towards Delivery of Consumable Materials to Aircraft Assembly Stations Performed by Mobile Robots Based on Industry 4.0 Principles

Magnetic strips as landmarks for mobile robot navigation

Localization Using Magnetic Patterns for Autonomous Mobile Robot

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