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http://dx.doi.org/10.5391/JKIIS.2007.17.4.506

Simultaneous Localization and Mapping of Mobile Robot using Digital Magnetic Compass and Ultrasonic Sensors  

Kim, Ho-Duck (중앙대학교 전자전기공학부)
Seo, Sang-Wook (중앙대학교 전자전기공학부)
Jang, In-Hun (중앙대학교 전자전기공학부)
Sim, Kwee-Bo (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.17, no.4, 2007 , pp. 506-510 More about this Journal
Abstract
Digital Magnetic Compass(DMC) has a robust feature against interference in the indoor environment better than compass which is easily disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. So they ate used in Simultaneous Localization and Mapping(SLAM). In this paper, we study the Simultaneous Localization and Mapping(SLAM) of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Autonomous mobile robot is aware of robot's moving direction and position by the restricted data. Also robot must localize as quickly as possible. And in the moving of the mobile robot, the mobile robot must acquire a map of its environment. As application for the Simultaneous Localization and Mapping(SLAM) on the autonomous mobile robot system, robot can find the localization and the mapping and can solve the Kid Napping situation for itself. Especially, in the Kid Napping situation, autonomous mobile robot use Ultrasonic sensors and Digital Magnetic Compass(DMC)'s data for moving. The robot is aware of accurate location By using Digital Magnetic Compass(DMC).
Keywords
Simultaneous Localization and Mapping(SLAM); Kid Napping;
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