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http://dx.doi.org/10.5302/J.ICROS.2003.9.2.140

A Study on Navigation Sensor System for Outdoor AGV Using AMR Sensors  

김성호 (울산대학교 전기전자정보시스템공학부)
박경섭 (울산대학교 전기전자정보시스템공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.2, 2003 , pp. 140-144 More about this Journal
Abstract
A navigation sensor system for outdoor AGV(Automatic Guided Vehicle) using AMR(Anisotropic Magnetoresitive) sensors is described. We derive a formula of the position of AMR sensor using the measured magnetic field intensity due to permanent magnet with constant distance. The system consists of sensor board. sensor control board and position processing board. The sensor board measures magnetic field intensity, the sensor control board controls the measurement of six sensors sequentially, and the position processing board computes the accurate position of the permanent magnet using Least Square Method. We arranged six sensors at intervals of 30cm and measured the position of the permanent magnet moving at intervals of 30cm. Experimental results showed that we can get standard deviation of 2mm and error of &\pm&4.5mm at a height of 20cm from the permanent magnet.
Keywords
AMR(Anisotropic Magnetoresistive); magnet guidance system;
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