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Geomagnetic field-based localization with bicubic interpolation for mobile robots

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  • Robotics and Automation
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Abstract

This paper proposes a novel geomagnetic field-based SLAM (simultaneous localization and mapping) technique for application to mobile robots. SLAM is an essential technique for mobile robots such as robotic vacuum cleaners to perform their missions autonomously. For practical application to commercialized robotic vacuum cleaners, the SLAM techniques should be implemented with low-priced sensors and low-computational complexity. Most building structures produce distortions in the geomagnetic field and variation of the field over time occurs with extremely low frequency. The geomagnetic field is hence applicable to mobile robot localization. The proposed geomagnetic field SLAM uses only the geomagnetic field signals and odometry data to estimate the robot state and the geomagnetic field signal distribution with low computational cost. To estimate the signal strength of the geomagnetic field, bicubic interpolation, an extension of cubic interpolation for interpolating surfaces on a regular grid, is used. The proposed approach yields excellent results in simulations and experiments in various indoor environments.

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Authors and Affiliations

  1. Urban Robotics Laboratory, KAIST, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-338, Korea

    Seung-Mok Lee, Jongdae Jung & Hyun Myung

Authors
  1. Seung-Mok Lee
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  2. Jongdae Jung
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  3. Hyun Myung
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Corresponding author

Correspondence to Hyun Myung.

Additional information

Recommended by Associate Editor Wen-Hua Chen under the direction of Editor Fuchun Sun.

This work was supported by the Technology Innovation Program: the Pilot Test Research for Directional Drilling System (Grant No. 10048079); and the Technical Development of Stable Drilling and Operation for Shale/Tight Gas Field (Grant No. 2011201030001D) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). The students are supported by Korea Ministry of Land, Infrastructure and Transport (MOLIT) as UCity Master and Doctor Course Grant Program.

Seung-Mok Lee received his B.S. degree in Physics from Chung-Ang University, Seoul, Korea, in 2006; an M.S. degree in satellite systems and its applications engineering from the University of Science and Technology, Daejeon, Korea, in 2008; and a Ph.D. degree in civil and environmental engineering (Robotics Program), from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, in 2014. He is currently a Post-Doctoral Fellow with the Urban Robotics Laboratory, KAIST. His current research interests include multirobot systems, evolutionary algorithms, and simultaneous localization and mapping.

Jongdae Jung received his M.S. degree in Civil and Environmental Engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea in 2010, where he is currently pursuing a Ph.D. degree with the Urban Robotics Laboratory. His current research interests include navigation signals and systems, simultaneous localization and mapping, and Bayesian inference techniques in these domains.

Hyun Myung received his Ph.D. degree in Electrical Engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1998. He was a Principal Researcher with the Samsung Advanced Institute of Technology, Samsung Electronics Company, Ltd., Yongin, Korea, from 2003 to 2008; the Director of Emersys Corporation, Seoul, Korea, from 2002 to 2003; and a Senior Researcher with the Electronics and Telecommunications Research Institute, Daejeon, from 1998 to 2002. He is currently an Associate Professor with the Department of Civil and Environmental Engineering, and also an Adjunct Professor with the Robotics Program, KAIST. His current research interests include mobile robot navigation, simultaneous localization and mapping, evolutionary computation, numerical and combinatorial optimization, and intelligent control based on soft computing techniques.

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Lee, SM., Jung, J. & Myung, H. Geomagnetic field-based localization with bicubic interpolation for mobile robots. Int. J. Control Autom. Syst. 13, 967–977 (2015). https://doi.org/10.1007/s12555-014-0143-z

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  • DOI: https://doi.org/10.1007/s12555-014-0143-z

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