| The technology of navigation and orientation is one of the vital technologies for autonomous mobile robot. In this paper, a new concept of navigation and orientation is proposed, it is named after magnetized path navigation. Using this navigation technique, the special magnetization device magnetizes soil during the course of robot's moving on the ground, and then a strip of magnetic vestige will be created in the surface layer of ground. Navigation will come true for robot by magnetic sensors' detecting this magnetic beaconing and regarding it as self-determination navigation's information. This technology of navigation is very effective on mobile robots of whole region-coverage.At the beginning of this thesis, the theory of creating magnetic vestige is analyzed by using the theory of electromagnetic field and soil magnetization. The principles and the generic characteristics of soil magnetization are discussed. Then we discover that the intensity of soil's magnetism will increase distinctly on the effect of external magnetic field, and the residual magnetism (magnetic vestige) can be reserved for a long time. Based on this fact above, we consider the process that magnetization soil and creating magnetic vestige is feasible for robots' navigation. At the same time, on the basis of characteristics of soil magnetization, it also get the intensity of magnetic vestige and the necessity of soil magnetization. According to these need, we devise the magnetization device based on the theory of RC pulse magnetization, and present the device size, hardware circuit and power optimization in detail. At last, we finish the design of the hardware and the software for the entire magnetization device.In this paper, we has debugged and experimented on the outcome of study, and get the satisfied results, this proved the efficiency of the magnetized path navigation for autonomous mobile robots. It also indicates there is a favorable foreground in engineering application for this navigation. |
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