The Study Of Magnetic Navigation System For Outdoor Autonomous Wheeled Robot

Autonomous mobile robot technology, navigation technology is the core of their research.Navigation technology is mainly to solve the problem of localization and obstacle avoidance forautonomous mobile robot.Localization function of autonomous mobile robot includes lateral localization function andlongitudinal localization function, which provide the position and orientation information and thelocation of autonomous mobile robot. Obstacle avoidance function helps the robot avoid obstacleand return to on the established route.Because the existing navigation technology has its limitations in the outdoor, such as weather,light, cost, so, it is very theoretical and practical to research outdoor autonomous mobile robotnavigation system. Autonomous wheeled mobile robot is an important branch of autonomous mobilerobot, so, this paper do some research about navigation system of autonomous wheeled mobilerobot.First, this paper designs a magnetic navigation system as the robot’s navigation system in orderto reduce the impact of weather and light in the outdoor. Through designs the distribution structureof the magnetic sensors in magnetic navigation system and magnetic markers specification, thispaper will get lateral localization information.Second, this paper calculates mileage of the robot based on magnetic navigation system andRFID technology to get the longitudinal localization information. In order to reduce the impact oflower accuracy of longitudinal localization due to wheel slipping, this paper proposes a new methodof calculating mileage based on magnetic navigation system and RFID for autonomous wheeledmobile robot. With the establishment of magnetic navigation system, this approach is implementedby controlling the gap of laying magnetic markers, getting the interval between the magnetic field oftwo magnetic markers, recording the counts of the magnetic signal which is not detected, and thencombining the length of the gap among laying magnetic markers with modification value offered byRFID when autonomous wheeled mobile robot is moving.Then, through the study of fuzzy control technology and design of ultrasonic distancemeasurement module, this paper proposes a method for obstacle avoidance and return to on theestablished route. The fuzzy controller output action information on the obstacle to the robot, and therobot return to on the established route combining magnetic navigation systemFinally, the work in this paper is summarized and some creative researches about the study areindicated, besides, the topics about the future development trends and research directions are indicated.