TY - GEN
T1 - Global localization for a small mobile robot using magnetic patterns
AU - You, Won Suk
AU - Choi, Byung June
AU - Kim, Bumsoo
AU - Moon, Hyungpil
AU - Koo, Ja Choon
AU - Chung, Wankyun
AU - Choi, Hyouk Ryeol
PY - 2010
Y1 - 2010
N2 - In this paper, we present a global localization and local pose error compensation method in a known structured environment using magnetic landmarks. In previous our research, it was possible to compensate the pose error (xe, ye, θe) of a mobile robot correctly on the surface of structured environment with magnetic landmarks. In this work, we propose a methodology of arranging magnetic landmarks on the map such that properly arranged magnetic patterns ease the global localization of a mobile agent. Among total six patterns of magnetic-bar in square arrangement, five unique landmarks are obtained. Therefore, a heuristic pattern search method is applied to build the virtual map using five landmarks. In order to obtain the global pose information, the robot identifies the pattern of magnets, and obtains the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. Experimental results show the effectiveness of the magnetic-pattern landmarks for the global localization and local pose control of a mobile robot.
AB - In this paper, we present a global localization and local pose error compensation method in a known structured environment using magnetic landmarks. In previous our research, it was possible to compensate the pose error (xe, ye, θe) of a mobile robot correctly on the surface of structured environment with magnetic landmarks. In this work, we propose a methodology of arranging magnetic landmarks on the map such that properly arranged magnetic patterns ease the global localization of a mobile agent. Among total six patterns of magnetic-bar in square arrangement, five unique landmarks are obtained. Therefore, a heuristic pattern search method is applied to build the virtual map using five landmarks. In order to obtain the global pose information, the robot identifies the pattern of magnets, and obtains the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. Experimental results show the effectiveness of the magnetic-pattern landmarks for the global localization and local pose control of a mobile robot.
UR - https://www.scopus.com/pages/publications/77955820944
U2 - 10.1109/ROBOT.2010.5509467
DO - 10.1109/ROBOT.2010.5509467
M3 - Conference contribution
AN - SCOPUS:77955820944
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2618
EP - 2623
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -