Abstract
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.
Highlights
The pose information of a mobile robot within its environment is fundamental and essential for carrying out any kind of missions in a real environment
When the pattern of the magnetic landmark of the current location and the neighboring patterns are sequentially identified without any prior knowledge, the robot compares the measured sequence of patterns with the grid-like global map to complete the global localization
The localization technique including the sequential landmark search, tracking and global localization methods is evaluated as a complete localization algorithm
Summary
The pose information of a mobile robot within its environment is fundamental and essential for carrying out any kind of missions in a real environment. The robot can compensate its pose error either on the recognized landmark or while moving to the landmark This methodology is only a solution to the tracking problem. We propose a complete solution to the localization problem using magnetic landmarks This methodology includes a sequential landmark search technique which provides a strategy for a mobile robot to navigate itself to the magnetic landmark’s geometric center from an unknown initial position.
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