A Robust NavigationMethod for Mobile Robots in Real-World Environments | Zendy

Sam Ann Rahok | Zendy; Hirohisa ONEDA | Zendy; Akio Tanaka | Zendy; Koichi OZAKI | Zendy

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A Robust NavigationMethod for Mobile Robots in Real-World Environments

Author(s) -

Sam Ann Rahok,

Hirohisa ONEDA,

Akio Tanaka,

Koichi OZAKI

Publication year - 2014

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2014.p0177

Subject(s) - mobile robot , robot , computer vision , computer science , artificial intelligence , scanner , key (lock) , range (aeronautics) , laser scanning , mobile robot navigation , robot control , laser , engineering , physics , computer security , optics , aerospace engineering

This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot’s lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.

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