NDLI: A localization system based on buried magnets and dead reckoning for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Bourny, V. Capitaine, T. Barrandon, L. Pégard, C. Lorthois, A.
Copyright Year	2010
Description	Author affiliation: MIS laboratory (EA 4290), Université de Picardie Jules Verne7 rue du moulin neuf 80000 Amiens, INSSET Université de Picardie Jules Verne, 48 Rue Raspail 02100 Saint-Quentin, France (Bourny, V.; Capitaine, T.; Barrandon, L.; Pégard, C.)
Abstract	Localization problems are key concerns in the design of truly autonomous robots. If a robot does not know where it is, it will not be able to determine what to do next properly. In order to localize itself, a robot can use both relative and absolute measurement systems to get feedback about its driving actions and the environment perception. Usually, absolute localization is used periodically to correct drifts of relative localization performed with odometers, or inertial sensors. This absolute localization has to be as accurate as possible to give the robot the most reliable information on its position especially in docking situations. In this paper, we describe an absolute localization system able to determine the robot's position thanks to a magnet inserted into the ground. We have used a triangulation method to compute the position of the robot which provided us static and dynamic localization. This system has been embedded in an Auto Guided Vehicle (AVG) in an industrial context.
Starting Page	373
Ending Page	378
File Size	997387
Page Count	6
File Format	PDF
ISBN	9781424463909
e-ISBN	9781424463923
DOI	10.1109/ISIE.2010.5637693
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic sensors Magnetic field measurement Compass Three dimensional displays Vehicles Magnetic fields
Content Type	Text
Resource Type	Article

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