Mobile Robot Positioning Method Based On Indoor Geomagnetic Information

With the increasing use of indoor robots,indoor mobile robots have gradually entered the common family,showing a good application prospect.The research on navigation and positioning methods for indoor mobile robots has attracted more and more people's attention.The geomagnetic field is an inherent resource of the earth,and has excellent characteristics of no radiation,passive,all-weather,all-day,all-region,low energy consumption.The paper studies the feasibility and method of using indoor geomagnetic information to globally locate indoor mobile robots.The main work is as follows:(1)Developed a geomagnetic data acquisition device based on the nine-axis sensor module ICM20948;(2)Designed geomagnetic data acquisition schemes in two different indoor environments,collecting and recording a large amount of indoor geomagnetic data;(3)Analyzed the collected data,the results show that the indoor geomagnetic data collected by the room is relatively stable,and the geomagnetic data on different paths in the room has obvious differences;(4)The method of constructing indoor geomagnetic navigation map based on indoor geomagnetic data is studied.The geomagnetic navigation map is constructed to carry out the experiment of global positioning of mobile robot.The results show that it is feasible to use indoor geomagnetic information for global positioning of indoor mobile robot.The conclusions given in the paper are preliminary and encouraging.There are still many theoretical problems and technical methods to be overcome in the application of indoor geomagnetic information for the global navigation and positioning of indoor mobile robots.