Application of Localization Based on the DC Magnetic Field that Occurs in the Environment on Wheel-Type Mobile Agricultural Robots
Abstract: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.
Document Type: Research Article
Affiliations: 1: Department of Innovation Systems Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan;, Email: email@example.com 2: Department of Innovation Systems Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan
Publication date: 2011-04-01