Browse > Article
http://dx.doi.org/10.5369/JSST.2010.19.3.221

Positioning sensor system for mobile robots using magnetic markers  

Kim, Eui-Sun (Dept. of Information and Communications, Shin-Gyeong University)
Kim, Won-Ho (Dept. of Information and Communications, Shin-Gyeong University)
Publication Information
Journal of Sensor Science and Technology / v.19, no.3, 2010 , pp. 221-229 More about this Journal
Abstract
In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.
Keywords
mobile robot; positioning sensor; magnetic marker;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 C-Y Chan, “Magnetic sensing as a position reference system for ground vehicle control”, IEEE Transactions on Instrumentation and Measurement, vol. 51, no. 1, pp. 43-52, 2002.   DOI   ScienceOn
2 정승권, 김인수, 김창섭, 최주용, 윤강섭, 이만형, “무인차량의 강인한 조향제어 시스템 설계에 관한 연구”, 제어자동화시스템공학 논문지, 제8권, 제9호, pp. 747-756, 2002.   DOI
3 김성호, 박경섭, “AMR 센서를 이용한 옥외용 AGV 주행센서 시스템에 관한 연구”, 제어자동화시스템공학 논문지, 제9권, 제2호, pp. 140-144, 2003.
4 김영민, 임영철, 김태곤, 김의선, “자계 극배치를 이용한 지능형 차량용 도로 정보의 인식”, 센서학회지, 제14권, 제6호, pp. 409-414, 2005.   DOI
5 Seibum B. Choi, “The design of a look-down feedback adaptive controller for the lateral control of front-wheel-steering autonomous highway vehicles”, IEEE Transactions on Vehicular Technology, vol. 49, no. 6, pp. 2257-2269, 2000.   DOI   ScienceOn