NDLI: Development of magnetic sensor based local pose component for JAUS compliant system

Content Provider	IEEE Xplore Digital Library
Author	Takahashi, K. Kobayashi, K. Watanabe, K. Ohkubo, T. Kurihara, Y.
Copyright Year	2011
Description	Author affiliation: Department of Systems Engineering, Hosei University, Tokyo, Japan (Takahashi, K.; Kobayashi, K.; Watanabe, K.; Ohkubo, T.) \|\| Faculty of Science and Technology, Seikei University, Tokyo, Japan (Kurihara, Y.)
Abstract	In this study, we developed a JAUS-compliant Local Pose Component based on a magnetic sensor, which enables absolute positioning and heading angle of a mobile robot. In order to detect magnetic north regardless of the influence from other magnetic structures, we employed a gyro sensor and GPS to compensate absolute positioning and heading by applying the proposed complex-type Kalman filter. The proposed algorithm is implemented as JAUS Local Pose Component that is documented in the SAE JAUS AS6009 Mobility Service Set. The developed JAUS Local Pose Component enables enhanced interoperability. The validity of the proposed Local Pose Component was verified using an actual mobile robot under an outdoor environment.
Starting Page	2785
Ending Page	2789
File Size	651793
Page Count	5
File Format	PDF
ISBN	9781457707148
e-ISBN	9784907764395
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-13
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE (The Society of Instrument and Cont
Subject Keyword	Mobile robots Robot sensing systems Kalman filters Gyroscopes Magnetic sensors Global Positioning System complex type Kalman filter Odometry magnetic sensor JAUS gyro D-GPS self-localization local pose sensor
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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