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

Author

Rahok, Sam Ann ; Ozaki, Koichi

Author_Institution

Dept. of Innovation Syst. Eng., Utsunomiya Univ., Tochigi, Japan

fYear

2011

fDate

9-13 May 2011

Firstpage

625

Lastpage

630

Abstract

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.

Keywords

database management systems; magnetic field measurement; magnetic sensors; mobile robots; path planning; position control; 3-axis magnetic sensor; environmental magnetic field; horizontal xy-axis; magnetic database; magnetic field scan; magnetic sensor; outdoor mobile robot; play back navigation; teaching stage; trajectory tracking method; Databases; Magnetic sensors; Mobile robots; Navigation; Robot sensing systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979873

Filename

5979873