Position Estimation Using a Geomagnetic Sensor for Mini 4WD AI

Abstract

In this paper, we propose a method of position estimation using a geomagnetic sensor for automatic control of a mini 4WD AI machine. First, a mini 4WD AI machine is driven on a circular course, and the geomagnetic sensor is used to measure the horizontal geomagnetic field while the machine is running. Since the geomagnetic field ideally forms a regular circle when the machine is running around the course, a circle model is constructed from the measured values. Using the center point of the circle model, the orientation of the machine at each measurement time is obtained, and its position on the course is estimated. Numerical experiments are conducted to evaluate the effectiveness of the proposed method.