抄録
This paper describes a robust navigation system using environmental magnetic field for outdoor autonomous mobile robots. In this research, a 3-axis magnetic sensor is used to scan DC magnetic field in the outdoor environment to build a database. The robot navigates by performing trajectory tracking based on the database. Furthermore, by performing data matching between sensor readings against the database at the areas where the characteristic changes of the magnetic field are detected during the navigation, the robot is able to localize with a reliable accuracy and by applying the localization results to compensate the odometry, the cumulative error can be eliminated.
