1A2-E09 Localization using Disorder Magnetic Field in Outdoor Environment

摘要

A reliable navigation and localization system for outdoor mobile robots must be robust against environment variation. In this paper, we propose a navigation method of recording disorder magnetic field as magnetic map. An azimuth causes disorder by the magnetic substances. However, the robot characterizes and uses the disorder of the magnetic field among environment in the proposed method. This magnetic map is built with a three axis magnetic sensor before the navigation of the robot. When the robot navigates, it localizes by matching data of the sensor with the data of the magnetic map. The experimental results show that the robot is able to go around the same trajectory by the proposed localization method.