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Magnetic landmark-based position correction technique for mobile robots with hall sensors

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Abstract

We propose a precise position error compensation and low-cost relative localization method in structured environments using magnetic landmarks and hall sensors. The proposed methodology can solve the problem of fine localization as well as global localization by tacking landmarks or by utilizing various patterns of magnetic landmark arrangement. In this paper, we consider two patterns of implanted permanent magnets on the surface, namely, at each vertex of regular triangles or rectangles on a flat surface. We show that the rectangular configuration of the permanent magnetic bars is better for a robust localization under sensor noise. For the experiments, permanent magnet sets in rectangular configuration are placed on the floor as landmarks at regular intervals, and magnetic hall sensors are installed at the bottom of a mobile robot. In our implementation, the accuracy after the error compensation is less than 1 mm in the position and less than 1° in the orientation. Due to the low cost and accuracy of the proposed methodology, it would be one of the practical solutions to the pose error correction of a mobile robot in structured environments.

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, 300 Cheoncheon-dong, Jangan-gu, Suwon, Gyeonggi-do, 440-746, Korea

    Byung June Choi, Bumsoo Kim, Sung Moon Jin, Ja Choon Koo, Hyouk Ryeol Choi & Hyungpil Moon

  2. Department of Mechanical Engineering, Pohang University of Science and Technology, Hyoja-dong, Nam-gu, Pohang, 790-784, Gyeongbuk, Korea

    Wan Kyun Chung

Authors
  1. Byung June Choi
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  2. Bumsoo Kim
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  3. Sung Moon Jin
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  4. Ja Choon Koo
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  5. Wan Kyun Chung
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  6. Hyouk Ryeol Choi
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  7. Hyungpil Moon
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Correspondence to Hyungpil Moon.

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Choi, B.J., Kim, B., Jin, S.M. et al. Magnetic landmark-based position correction technique for mobile robots with hall sensors. Intel Serv Robotics 3, 99–113 (2010). https://doi.org/10.1007/s11370-010-0062-7

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  • DOI: https://doi.org/10.1007/s11370-010-0062-7

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