The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Development of Localization and Pose Compensation for Mobile Robot using Magnetic Landmarks

마그네틱 랜드마크를 이용한 모바일 로봇의 위치 인식 및 위치 보정 기술의 개발

  • Received : 2010.03.10
  • Accepted : 2010.06.11
  • Published : 2010.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

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 $x_e$, $y_e$, ${\theta}_e$ 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.

Keywords

References

  1. J. Borenstein, Liqiang Feng, "Measurement and Correction of Systemmatic Odometry Errors in Mobile Robots," IEEE Transactions on Robotics and Automation, Vol.12, No.6, pp.869-880, 1997.
  2. A. Martinelli, "The Odometry Error of a Mobile Robot With a Synchronous Drive System," IEEE Transactions on Robotics and Automation, Vol.18, No.3, pp.399-405, 2002. https://doi.org/10.1109/TRA.2002.1019477
  3. J. J. Leonard and H. F. Durant-Whyte, "Mobile Robot Localization by Tracking Geometric Beacons," IEEE Transactions on Robotics and Automation, Vol.7, No.3, pp.367-382, 1991.
  4. F. Dellaert, D. Fox, W. Burgard, S. Thrun, "Monte Carlo Localization for Mobile Robots," Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp.1322-1328, 1999.
  5. P. Jensfelt and S. Kristensen, "Active Global Localization for a Mobile Robot Using Multiple Hypothesis Tracking," IEEE Transactions on Robotics and Automation, Vol.17, No.5, pp.748-760, 2001. https://doi.org/10.1109/70.964673
  6. A. Gasparri, S. Panzieri, F. Pascucci, and G. Ulivi, "A Hybrid Active Global Localisation Algorithm for Mobile Robots," 2007 IEEE International Conference on Robotics and Automation, pp.3148-3153, 2007.
  7. S. Se, D. Lowe, and J. Little, "Global localization using distinctive visual features," 2002 IEEE/RSJ International Conference on Intelligent Robots and System, pp.226-231, 2002.
  8. K. KODAKA, H. NIWA, Y. SAKAMOTO, M. OTAKE, Y. KANEMORI, S. SUGANO, "Pose Estimation of a Mobile Robot on a Lattice of RFID Tags," 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1385-1390, 2008.
  9. S. S. Han, H. S. Lim, and J. M. Lee, "An Efficient Localization Scheme for a Differential-Driving Mobile Robot Based on RFID System," IEEE Transaction on Industrial Electronics, Vol.54, No.6, pp.3362-3369, 2007.
  10. J. Huh, W. S. Chung, S. Y. Nam and W. K. Chung, "Mobile Robot Exploration in Indoor Environment Using Topological Structure with Invisibe Barcodes," ETRI Journal, Vol.29, No.2, pp.189-200, 2007. https://doi.org/10.4218/etrij.07.0106.0066
  11. E. H. Hall, "On an New Action of the Magnet on Electric Currents," American Journal of Mathematics, Vol.2, pp.287-292, 1879. https://doi.org/10.2307/2369245
  12. B. S. Kim, B. J. Choi, S. M. Jin, H. P. Moon, J. C. Koo, W. K. Chung and H. R. Choi, "Development of Position Correction Technique for Mobile Robot using Magnet Hall Sensor," The 5th International Conference on Ubiquitous Robots and Ambient Intelligence 2008, pp.173-178, 2008.
  13. B. J. Choi, B. Kim, S. M. Jin, J. C. Koo, W. K. Chung, H. R. Choi, and H. Moon, "Magnetic landmark-based position correction technique for mobile robots with hall sensors," Intelligent Service Robotics, Vol.3, No.2, pp.99-113, 2010. https://doi.org/10.1007/s11370-010-0062-7
  14. K. C. Koh and H. S. Cho, "A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints," Journal of Intelligent and Robotics System, Vol.24, pp.367-385, 1999. https://doi.org/10.1023/A:1008045202113
  15. B. J. Choi, B. S. Kim, J. Y. Chun, H. P. Moon, J. C. Koo, W. K. Chung and H. R. Choi, Magnetic Patterns based Global Localization for a Mobile Robot using Hall Sensors," Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation 2009, pp.192-197, 2009.