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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Navigation Using an Environmental Magnetic Field for Outdoor Autonomous Mobile Robots
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Navigation Using an Environmental Magnetic Field for Outdoor Autonomous Mobile Robots

机译：户外自动移动机器人的环境磁场导航

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摘要

GPS and laser range finders are generally utilized in current robot navigation. However, information from the magnetic field and electronic compass is not, since it is dynamically changing at every position. In this paper, the relationship between the intensity of a magnetic field in the environment and its position is taken into account by utilizing a three-axis magnetic sensor to scan the magnetic field in the environment to build a database. The mobile robot navigates by performing trajectory tracking based on the database. The experimental results show that by applying the proposed method, the mobile robot is able to navigate in an outdoor environment with reliable accuracy.
机译：GPS和激光测距仪通常用于当前的机器人导航中。但是，来自磁场和电子罗盘的信息却没有，因为它在每个位置都在动态变化。本文利用三轴磁传感器扫描环境中的磁场建立数据库，考虑了环境中磁场强度与其位置之间的关系。移动机器人通过基于数据库执行轨迹跟踪来导航。实验结果表明，通过应用所提出的方法，移动机器人能够在室外环境中以可靠的精度导航。

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