Sam Ann Rahok

Odometry correction with localization based on landmarkless magnetic map for navigation system of indoor mobile robot

In this paper, we discuss on how to correct odometry with localization based on DC magnetic field occurred in the environment for a navigation system of indoor mobile robot. The DC magnetic field occurred in the environment is known that it is produced by rebar of the buildings, magnetic materials etc. It is time invariant in case of there is not any displacement of magnetic materials. In this work, we apply a magnetic sensor to detect this magnetic field to build a magnetic map. The robot localizes by matching sensor readings against the DC magnetic field stored in magnetic map. The experimental results indicate that the robot is possible to localize accurately based on our proposed method and by applying the localization result to compensate the odometry, the cumulative error can be eliminated.

Navigation Using an Environmental Magnetic Field for Outdoor Autonomous Mobile Robots

GPS and laser range finders are generally utilized in current robot navigation. However, information from the magnetic field and electronic compass is not, since it is dynamically changing at every position. In this paper, the relationship between the intensity of a magnetic field in the environment and its position is taken into account by utilizing a three-axis magnetic sensor to scan the magnetic field in the environment to build a database. The mobile robot navigates by performing trajectory tracking based on the database. The experimental results show that by applying the proposed method, the mobile robot is able to navigate in an outdoor environment with reliable accuracy.

Trajectory tracking using environmental magnetic field for outdoor autonomous mobile robots

This paper describes a trajectory tracking method using environmental magnetic field for outdoor autonomous mobile robots. In this research, a 3-axis magnetic sensor is used to scan DC magnetic field in the outdoor environment to build a database. The robot then performs trajectory tracking based on the database. The experimental results show that by applying the proposed method the robot is possibly able to navigate in the outdoor environment with a reliable accuracy.

Development of a Mobile Robot to Run in Tsukuba Challenge 2010

Abstract This paper describes an implementation of a mobile robot system in a 1 km autonomous mobile robot navigation challenge called ‘Tsukuba Challenge 2010’ which was held in the city of Tsukuba, Ibaraki, Japan. The mobile robot used only three types of sensors which were a magnetic sensor, two wheel encoders, and a laser range finder. For a stable navigation, we have proposed a method that is able to localize and perform trajectory tracking based on patterns of the magnetic fields intensity that occurs in the environment. It was divided into two distinct parts of map building and navigating. In the map building, the mobile robot was operated by a joystick along the course of the challenge to record the environmental magnetic field to build a map. The mobile robot then navigated by using a trajectory tracking method based on the map. During the seven trials which were given before the qualifying and final runs, the mobile robot completed the full course three times with once in small rain.

Play-back navigation for outdoor mobile robot using trajectory tracking based on environmental magnetic field

This paper presents a play-back navigation for outdoor mobile robots using trajectory tracking method based on environmental magnetic field. Two 3-axis magnetic sensors with horizontal xy-axes opposed to each other, are used to scan magnetic field occurred in the environment to build two different magnetic databases during the teaching stage. In the play-back navigation, the robot rotates 180 degrees and then uses one among the two magnetic sensors readings to perform trajectory tracking based on the magnetic database of another magnetic sensor. The experimental results show that the robot is able to perform the play-back navigation with a reliable accuracy.

Application of Localization Based on the DC Magnetic Field that Occurs in the Environment on Wheel-Type Mobile Agricultural Robots

A wheel-type mobile robot is simply able to localize with odometry. However, for mobile agricultural robots, it is necessary to consider that the environment is uneven terrain. Therefore, odometry is unreliable and it is necessary to augment the odometry by measuring the position of the robot relative to known objects in the environments. This paper describes the application of localization based on the DC magnetic field that occurs in the environment on mobile agricultural robots. In this research, a magnetic sensor is applied to scan the DC magnetic field to build a magnetic database. The robot localizes by matching magnetic sensor readings against the magnetic database. The experimental results indicate that the robot is able to localize accurately with the proposed method and the cumulative error can be eliminated by applying the localization results to compensate for the odometry.