Navigation Using an Environmental Magnetic Field for Outdoor Autonomous Mobile Robots

Rahok, Sam Ann; Shikanai, Yoshihito; Ozaki, Koichi

doi:10.1163/016918611x584677

Cited by 22 publications

(3 citation statements)

References 9 publications

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“…These anomalies can be used as landmarks since they are stable in time scale. The robot fixes a travel distance by using the landmarks [3,4]. Moreover, a heading direction of the robot is estimated by using stable magnetic field.…”

Section: Magnetic Navigation With Position Compensationmentioning

confidence: 99%

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Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

et al. 2014

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Background:In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods: Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion: We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions:The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method.

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Section: Magnetic Navigation With Position Compensationmentioning

confidence: 99%

“…We have proposed an outdoor navigation method called "MN (Magnetic Navigation) [3,4]". MN has robustness against moving objects since localization and control are performed by using only ambient magnetic field.…”

Section: Introductionmentioning

confidence: 99%

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

et al. 2014

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“…However, it is difficult to use this method at some areas with few landmarks [2]. Therefore, we developed a navigation method using an environmental magnetic field, which does not depend on physical landmarks [3]. However, cumulative error of odometer caused by wheel slippage and uneven terrain still remains as a major problem.…”

Section: Introductionmentioning

confidence: 99%

Odometer correction method using disturbed environmental magnetic field

Aoki

Ann

Tanaka

et al. 2014

2014 IEEE 3rd Global Conference on Consumer Electronics (GCCE)

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So far, we have worked on developing a navigation method using an environmental magnetic field (a magnetic field that occurs in the environment). A 3-axis magnetic sensor is used to detect the environmental magnetic field, which is known as DC magnetic field, and store it on a database. The mobile robot then navigates by matching the magnetic sensor readings against the database. However, cumulative error of odometer caused by wheel slippage and uneven terrain still remains as a major problem. In this study, we aim to propose an odometer correction method using disturbed environmental magnetic field. The cumulative error that occurs during the navigation can be corrected by matching peaks of the magnetic sensor readings against the peaks of the magnetic field stored on the database.

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High-Sensitivity MF Filled Photonic Crystal Fiber Magnetic Field Sensor Based on Sagnac Interferometer

Fan,

Liu,

Chen

et al. 2024

J Supercond Nov Magn

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Navigation Using an Environmental Magnetic Field for Outdoor Autonomous Mobile Robots

Cited by 22 publications

References 9 publications

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Odometer correction method using disturbed environmental magnetic field

High-Sensitivity MF Filled Photonic Crystal Fiber Magnetic Field Sensor Based on Sagnac Interferometer

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