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JRM Vol.26 No.2 pp. 158-165
doi: 10.20965/jrm.2014.p0158
(2014)

Paper:

Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real World

Naoki Akai, Kazumichi Inoue, and Koichi Ozaki

Graduate School of Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan

Received:
December 2, 2013
Accepted:
February 24, 2014
Published:
April 20, 2014
Keywords:
autonomous mobile robot, magnetic navigation method,Monte Carlo localization, distributed control system, Real World Robot Challenge
Abstract

For the Real World Robot Challenge (RWRC) 2013, a new task was established: every robot was required to search for designated persons. In this paper, therefore, we consider the difficulty of the task and construct a navigation strategy to achieve the task. To navigate a robot on the basis of the strategy, long distance navigation is necessary. We have developed a unique navigation method based on magnetic and geometric landmarks on environmental structures in various locations. This method allows a robot to robustly localize by evaluating the reliability of magnetic and geometric landmarks. By using this method, a robot can navigate stably, even if there are no existing landmarks to serve as objects. We achieved autonomous navigation over long distances and successfully searched out designated persons as the challenge of the RWRC2013. This paper presents our navigation method and discusses long distance navigation using the method.

Cite this article as:
N. Akai, K. Inoue, and K. Ozaki, “Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real World,” J. Robot. Mechatron., Vol.26, No.2, pp. 158-165, 2014.
Data files:
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Last updated on Nov. 16, 2018