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JRM Vol.25 No.2 pp. 425-434
doi: 10.20965/jrm.2013.p0425
(2013)

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Development of the Robust Positioning System in Weather Disturbance Based on Geometric Landmark

Satoshi Ashizawa, Shunichi Tsuzuki, Takeshi Sakurai,
Michio Yamashita, Tomoya Owaki, and Takeo Oomichi

Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoyashi, Aichi 468-8502, Japan

Received:
November 5, 2012
Accepted:
February 13, 2013
Published:
April 20, 2013
Creative Commons License
Keywords:
mobile robot, magnet sensor, geometric landmark
Abstract
We have developed a sensor systemthat can simultaneously detect the travel position and attitude of amobile robot. The developed sensor system consists of magnet sensors and N landmarks set up on the road. The N landmarks, made of steel plate, are set up in the shape of an N on the road. The magnet sensors accurately detect the center of a steel plate and calculate the center of the N landmark and the attitude of the mobile robot. The sensor system realizes detection that is robust against lift off variation and deposition (soil, water, snow, etc.) on the steel plate. We have confirmed the validity of the sensor system through a travel experiment involving a mobile robot on which the sensor system is mounted.
Cite this article as:
S. Ashizawa, S. Tsuzuki, T. Sakurai, M. Yamashita, T. Owaki, and T. Oomichi, “Development of the Robust Positioning System in Weather Disturbance Based on Geometric Landmark,” J. Robot. Mechatron., Vol.25 No.2, pp. 425-434, 2013.
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