Abstract
This paper proposes a novel geomagnetic field-based SLAM (simultaneous localization and mapping) technique for application to mobile robots. SLAM is an essential technique for mobile robots such as robotic vacuum cleaners to perform their missions autonomously. For practical application to commercialized robotic vacuum cleaners, the SLAM techniques should be implemented with low-priced sensors and low-computational complexity. Most building structures produce distortions in the geomagnetic field and variation of the field over time occurs with extremely low frequency. The geomagnetic field is hence applicable to mobile robot localization. The proposed geomagnetic field SLAM uses only the geomagnetic field signals and odometry data to estimate the robot state and the geomagnetic field signal distribution with low computational cost. To estimate the signal strength of the geomagnetic field, bicubic interpolation, an extension of cubic interpolation for interpolating surfaces on a regular grid, is used. The proposed approach yields excellent results in simulations and experiments in various indoor environments.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Control, Automation and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
