Implementation of a Long-Distance Navigation Method of Low Cost Structure That Combines a Localization Using Magnetic Information and a Lateral Position Compensation
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- AKAI Naoki
- Utsunomiya Univ. Dept. of Mechanical Engineering
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- Rahok SAM ANN
- 小山工業高等専門学校
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- 井上 一道
- 宇都宮大学大学院 工学研究科
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- 尾崎 功一
- 宇都宮大学大学院 工学研究科
Bibliographic Information
- Other Title
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- 磁気情報を用いた自己位置推定と横方向位置補正を組み合わせた低コスト構成の長距離ナビゲーション法の実装
Abstract
We have proposed a navigation method using magnetic information that occurs in the environment. This paper proposes a improve navigation method that combines a localization using magnetic information and a lateral error compensation based on external geometric information. In our previous method, it is required to adjust parameters used for the robot navigation. This adjustment is needed excluding unreliable magnetic information. On the other hand, our proposed method enables a robot to travel long distance without adjustment parameters even if the unreliable magnetic information is included. The robot is able to identify its position with the particle filter on a topological map using magnetic information. Furthermore, the robot uses external geometric information for only compensate the lateral error. As a result, the localization accuracy is increased and is not depend on geometric information. In addition, these methods are applicable to the robot using simple algorithm, computational and memory costs are low. Through the navigation experiments, we show that the robot achieved over 2 km navigation in real world. Moreover, the proposed method is compared to other two methods. Finally, the usefulness and advantage of the proposed method are presented.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 79 (799), 681-690, 2013
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206386529664
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- NII Article ID
- 130003374959
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- ISSN
- 18848354
- 03875024
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed