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Simultaneous Localization and Mapping of Mobile Robot using Digital Magnetic Compass and Ultrasonic Sensors

전자 나침반과 초음파 센서를 이용한 이동 로봇의 Simultaneous Localization and Mapping

  • 김호덕 (중앙대학교 전자전기공학부) ;
  • 서상욱 (중앙대학교 전자전기공학부) ;
  • 장인훈 (중앙대학교 전자전기공학부) ;
  • 심귀보 (중앙대학교 전자전기공학부)
  • Published : 2007.08.25

Abstract

Digital Magnetic Compass(DMC) has a robust feature against interference in the indoor environment better than compass which is easily disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. So they ate used in Simultaneous Localization and Mapping(SLAM). In this paper, we study the Simultaneous Localization and Mapping(SLAM) of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Autonomous mobile robot is aware of robot's moving direction and position by the restricted data. Also robot must localize as quickly as possible. And in the moving of the mobile robot, the mobile robot must acquire a map of its environment. As application for the Simultaneous Localization and Mapping(SLAM) on the autonomous mobile robot system, robot can find the localization and the mapping and can solve the Kid Napping situation for itself. Especially, in the Kid Napping situation, autonomous mobile robot use Ultrasonic sensors and Digital Magnetic Compass(DMC)'s data for moving. The robot is aware of accurate location By using Digital Magnetic Compass(DMC).

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