A Robust Navigation Method for Mobile Robots in Real-World Environments

被引：6
|
作者：
Rahok, Sam Ann [1 ]
Oneda, Hirohisa [2 ]
Tanaka, Akio [1 ]
Ozaki, Koichi [3 ]
机构：
[1] Oyama Natl Coll Technol, Dept Innovat Elect & Elect Engn, 771 Nakakuki, Oyama, Tochigi 3230806, Japan
[2] Yuge Natl Coll Maritime Technol, Dept Elect Mech Engn, Kamijima, Ehime 7942593, Japan
[3] Utsunomiya Univ, Dept Mech Syst Engn, Utsunomiya, Tochigi 3218585, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2014年 / 26卷 / 02期
关键词：
mobile robot; navigation; magnetic field;
D O I：
10.20965/jrm.2014.p0177
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot's lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.
引用
收藏
页码：177 / 184
页数：8
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