Intelligent Service Robotics

, Volume 3, Issue 2, pp 99–113 | Cite as

Magnetic landmark-based position correction technique for mobile robots with hall sensors

  • Byung June Choi
  • Bumsoo Kim
  • Sung Moon Jin
  • Ja Choon Koo
  • Wan Kyun Chung
  • Hyouk Ryeol Choi
  • Hyungpil MoonEmail author
Original Research Paper


We propose a precise position error compensation and low-cost relative localization method in structured environments using magnetic landmarks and hall sensors. The proposed methodology can solve the problem of fine localization as well as global localization by tacking landmarks or by utilizing various patterns of magnetic landmark arrangement. In this paper, we consider two patterns of implanted permanent magnets on the surface, namely, at each vertex of regular triangles or rectangles on a flat surface. We show that the rectangular configuration of the permanent magnetic bars is better for a robust localization under sensor noise. For the experiments, permanent magnet sets in rectangular configuration are placed on the floor as landmarks at regular intervals, and magnetic hall sensors are installed at the bottom of a mobile robot. In our implementation, the accuracy after the error compensation is less than 1 mm in the position and less than 1° in the orientation. Due to the low cost and accuracy of the proposed methodology, it would be one of the practical solutions to the pose error correction of a mobile robot in structured environments.


Localization Magnetic landmarks Hall sensor Motion control 


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Copyright information

© Springer-Verlag 2010

Authors and Affiliations

  • Byung June Choi
    • 1
  • Bumsoo Kim
    • 1
  • Sung Moon Jin
    • 1
  • Ja Choon Koo
    • 1
  • Wan Kyun Chung
    • 2
  • Hyouk Ryeol Choi
    • 1
  • Hyungpil Moon
    • 1
    Email author
  1. 1.School of Mechanical EngineeringSungkyunkwan UniversitySuwon, Gyeonggi-doKorea
  2. 2.Department of Mechanical EngineeringPohang University of Science and TechnologyPohangKorea

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