Tessellation of plane with magnetic landmarks for pose control and global localisation

Proposed are regular tessellations of the plane environment where various patterns of magnetic landmarks are arranged in repeated configurations for fine pose tracking control and global localisation of mobile robots. Mobile robots sense the magnetic field with embedded magnetic Hall sensors and can recognise the pattern of the landmark. In the experiments, the accuracy of pose control of a mobile robot with 140 mm diameter is less than 0.5 mm in the position and less than 0.5° in the orientation. Also, the experimental results of landmark recognition demonstrate that the proposed method is suitable for a practical solution to the global localisation in engineered environments.