Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not...
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Autor*in:	Akai, Naoki [verfasserIn] Rahok, Sam Ann Inoue, Kazumichi Ozaki, Koichi

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2014

Schlagwörter:	Magnetic navigation Distributed control system Mobile robots for public space Autonomous navigation

Anmerkung:	© Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(

Übergeordnetes Werk:	Enthalten in: ROBOMECH Journal - Berlin : SpringerOpen, 2014, 1(2014), 1 vom: 21. Nov.
Übergeordnetes Werk:	volume:1 ; year:2014 ; number:1 ; day:21 ; month:11

Links:	Volltext

DOI / URN:	10.1186/s40648-014-0021-8

Katalog-ID:	SPR037112872

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520			\|a Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method.
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allfields	10.1186/s40648-014-0021-8 doi (DE-627)SPR037112872 (SPR)s40648-014-0021-8-e DE-627 ger DE-627 rakwb eng Akai, Naoki verfasserin aut Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License( Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213 Rahok, Sam Ann aut Inoue, Kazumichi aut Ozaki, Koichi aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 1(2014), 1 vom: 21. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:1 year:2014 number:1 day:21 month:11 https://dx.doi.org/10.1186/s40648-014-0021-8 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 1 2014 1 21 11
spelling	10.1186/s40648-014-0021-8 doi (DE-627)SPR037112872 (SPR)s40648-014-0021-8-e DE-627 ger DE-627 rakwb eng Akai, Naoki verfasserin aut Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License( Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213 Rahok, Sam Ann aut Inoue, Kazumichi aut Ozaki, Koichi aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 1(2014), 1 vom: 21. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:1 year:2014 number:1 day:21 month:11 https://dx.doi.org/10.1186/s40648-014-0021-8 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 1 2014 1 21 11
allfields_unstemmed	10.1186/s40648-014-0021-8 doi (DE-627)SPR037112872 (SPR)s40648-014-0021-8-e DE-627 ger DE-627 rakwb eng Akai, Naoki verfasserin aut Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License( Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213 Rahok, Sam Ann aut Inoue, Kazumichi aut Ozaki, Koichi aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 1(2014), 1 vom: 21. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:1 year:2014 number:1 day:21 month:11 https://dx.doi.org/10.1186/s40648-014-0021-8 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 1 2014 1 21 11
allfieldsGer	10.1186/s40648-014-0021-8 doi (DE-627)SPR037112872 (SPR)s40648-014-0021-8-e DE-627 ger DE-627 rakwb eng Akai, Naoki verfasserin aut Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License( Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213 Rahok, Sam Ann aut Inoue, Kazumichi aut Ozaki, Koichi aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 1(2014), 1 vom: 21. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:1 year:2014 number:1 day:21 month:11 https://dx.doi.org/10.1186/s40648-014-0021-8 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 1 2014 1 21 11
allfieldsSound	10.1186/s40648-014-0021-8 doi (DE-627)SPR037112872 (SPR)s40648-014-0021-8-e DE-627 ger DE-627 rakwb eng Akai, Naoki verfasserin aut Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License( Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213 Rahok, Sam Ann aut Inoue, Kazumichi aut Ozaki, Koichi aut Enthalten in ROBOMECH Journal Berlin : SpringerOpen, 2014 1(2014), 1 vom: 21. Nov. (DE-627)797381384 (DE-600)2785447-4 2197-4225 nnns volume:1 year:2014 number:1 day:21 month:11 https://dx.doi.org/10.1186/s40648-014-0021-8 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 1 2014 1 21 11
language	English
source	Enthalten in ROBOMECH Journal 1(2014), 1 vom: 21. Nov. volume:1 year:2014 number:1 day:21 month:11
sourceStr	Enthalten in ROBOMECH Journal 1(2014), 1 vom: 21. Nov. volume:1 year:2014 number:1 day:21 month:11
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Magnetic navigation Distributed control system Mobile robots for public space Autonomous navigation
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container_title	ROBOMECH Journal
authorswithroles_txt_mv	Akai, Naoki @@aut@@ Rahok, Sam Ann @@aut@@ Inoue, Kazumichi @@aut@@ Ozaki, Koichi @@aut@@
publishDateDaySort_date	2014-11-21T00:00:00Z
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This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. 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author	Akai, Naoki
spellingShingle	Akai, Naoki misc Magnetic navigation misc Distributed control system misc Mobile robots for public space misc Autonomous navigation Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
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topic_title	Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks Magnetic navigation (dpeaa)DE-He213 Distributed control system (dpeaa)DE-He213 Mobile robots for public space (dpeaa)DE-He213 Autonomous navigation (dpeaa)DE-He213
topic	misc Magnetic navigation misc Distributed control system misc Mobile robots for public space misc Autonomous navigation
topic_unstemmed	misc Magnetic navigation misc Distributed control system misc Mobile robots for public space misc Autonomous navigation
topic_browse	misc Magnetic navigation misc Distributed control system misc Mobile robots for public space misc Autonomous navigation
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title	Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
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title_full	Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
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author_browse	Akai, Naoki Rahok, Sam Ann Inoue, Kazumichi Ozaki, Koichi
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doi_str_mv	10.1186/s40648-014-0021-8
title_sort	development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
title_auth	Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
abstract	Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(
abstractGer	Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(
abstract_unstemmed	Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks. Results and discussion We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation. Conclusions The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method. © Akai et al.; licensee Springer. 2014. This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(
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title_short	Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks
url	https://dx.doi.org/10.1186/s40648-014-0021-8
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author2	Rahok, Sam Ann Inoue, Kazumichi Ozaki, Koichi
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up_date	2024-07-03T21:12:06.267Z
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This article is published under license to BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License(</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation. Methods Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. 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Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

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