SLAM of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors

摘要

In the moving of the mobile robot, the mobile robot acquires a map of its environment while simultaneously localizing itself relative to the map. Simultaneous localization ad mapping (SLAM) problems arise when the robot does not have access to a map of the environment, nor does it know its own pose. In this paper, we study the SLAM of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Digital Magnetic Compass has a strong feature against interference in the indoor environment better than compass which is can easily be disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. Autonomous mobile robot is aware of robot’s moving direction and position by the restricted data. Also robot must localize as quickly as possible. As application for the 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. When robot receives the similar data by sensors, robot uses Computation Intelligence(CI) for perceiving in the robot’s position.