Magnetic patterns based global localization for a mobile robot using hall sensors

• Published in: 2009 International Conference on Mechatronics and Automation pp. 192 - 197
• Main Authors: Byung June Choi, Bumsoo Kim, Joo Young Chun, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi, Wankyun Chung
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2009
• Subjects: Error compensation; global localization; hall sensor; Indoor environments; magnet; Magnetic sensors; Mechanical engineering; Mechanical sensors; mobile robot; Mobile robots; Permanent magnets; pose compensation; Robot kinematics; Robot sensing systems; Uncertainty
• ISBN: 1424426928; 9781424426928
• ISSN: 2152-7431; 2152-744X
• DOI: 10.1109/ICMA.2009.5246197

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of x e , y e , ¿ e correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.