Odometer correction method using disturbed environmental magnetic field

摘要

So far, we have worked on developing a navigation method using an environmental magnetic field (a magnetic field that occurs in the environment). A 3-axis magnetic sensor is used to detect the environmental magnetic field, which is known as DC magnetic field, and store it on a database. The mobile robot then navigates by matching the magnetic sensor readings against the database. However, cumulative error of odometer caused by wheel slippage and uneven terrain still remains as a major problem. In this study, we aim to propose an odometer correction method using disturbed environmental magnetic field. The cumulative error that occurs during the navigation can be corrected by matching peaks of the magnetic sensor readings against the peaks of the magnetic field stored on the database.