1A2-I09 Long-Distance Navigation Method using Environmental Magnetic Field based on Topological Map(Wheeled Robot/Tracked Vehicle(2))

Abstract

This paper describes a navigation method using environmental magnetic field called magnetic navigation based on topological map. The mobile robot that navigates with the magnetic navigation, estimates its position using change of environmental magnetic intensity. However, the magnetic navigation produces lateral error. Therefore, it is necessary to compensate that error. This paper proposes a method using Laser Scanner (LS) to compensate the lateral error occurred during the navigation. Since only two data of LS (one on the left and one on the right) are used in the proposed method, the mobile robot is able to navigate on a distance of 2km with a low computational cost in comparison to scan matching.