Odometry correction with localization based on landmarkless magnetic map for navigation system of indoor mobile robot

Abstract

In this paper, we discuss on how to correct odometry with localization based on DC magnetic field occurred in the environment for a navigation system of indoor mobile robot. The DC magnetic field occurred in the environment is known that it is produced by rebar of the buildings, magnetic materials etc. It is time invariant in case of there is not any displacement of magnetic materials. In this work, we apply a magnetic sensor to detect this magnetic field to build a magnetic map. The robot localizes by matching sensor readings against the DC magnetic field stored in magnetic map. The experimental results indicate that the robot is possible to localize accurately based on our proposed method and by applying the localization result to compensate the odometry, the cumulative error can be eliminated.