Magnetic mapping for robot navigation in indoor environments
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10773/31378 |
Resumo: | Localization has always been one of the fundamental problems in the field of robotic navigation. The emergence of GPS came as a solution for localization systems in outdoor environments. However, the accuracy of GPS is not always sufficient and GPS based systems often fail and are not suited for indoor environments. Considering this, today there is a variety of real time localization technologies. It is quite common to see magnetic anomalies in indoor environments, which arise due to the presence of ferromagnetic objects, such as concrete or steel infrastructures. In the conventional ambient magnetic field based robotic navigation, which uses the direction of the Earth’s magnetic field to determine orientation, these anomalies are seen as undesirable. However, if the environment is rich in anomalies with sufficient local variability, they can be mapped and used as features for localization purposes. The work presented in this dissertation aims at demonstrating that it is possible to combine the odometric measurements of a mobile robot with magnetic field measurements, in order to effectively estimate the position of the robot in real time in an indoor environment. For this purpose, it is necessary to map the navigation space and develop a localization algorithm. First, the issues addressed to create a magnetic map are presented, namely data acquisition, employed interpolation methods and validation processes. Subsequently, the developed localization algorithm, based on a particle filter, is depicted, as well as the respective experimental validation tests. |
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Magnetic mapping for robot navigation in indoor environmentsRobot navigationLocalization in indoor environmentsMagnetic mappingParticle filterLocalization has always been one of the fundamental problems in the field of robotic navigation. The emergence of GPS came as a solution for localization systems in outdoor environments. However, the accuracy of GPS is not always sufficient and GPS based systems often fail and are not suited for indoor environments. Considering this, today there is a variety of real time localization technologies. It is quite common to see magnetic anomalies in indoor environments, which arise due to the presence of ferromagnetic objects, such as concrete or steel infrastructures. In the conventional ambient magnetic field based robotic navigation, which uses the direction of the Earth’s magnetic field to determine orientation, these anomalies are seen as undesirable. However, if the environment is rich in anomalies with sufficient local variability, they can be mapped and used as features for localization purposes. The work presented in this dissertation aims at demonstrating that it is possible to combine the odometric measurements of a mobile robot with magnetic field measurements, in order to effectively estimate the position of the robot in real time in an indoor environment. For this purpose, it is necessary to map the navigation space and develop a localization algorithm. First, the issues addressed to create a magnetic map are presented, namely data acquisition, employed interpolation methods and validation processes. Subsequently, the developed localization algorithm, based on a particle filter, is depicted, as well as the respective experimental validation tests.A localização sempre fui um dos problemas fundamentais a resolver no âmbito da navegação robótica. O surgimento do GPS veio a servir de solução para bastantes sistemas de localização em ambientes exteriores. No entanto, a exatidão do GPS nem sempre é suficiente e os sistemas baseados em GPS falham frequentemente e não são aplicáveis em ambientes interiores. À vista disso, hoje existe uma variedade de tecnologias de localização em tempo real. É bastante comum verificarem-se anomalias magnéticas em ambientes interiores, que provêm de objetos ferromagnéticos, como infraestruturas de betão ou aço. Na navegação robótica baseada na leitura do campo magnético convencional, que utiliza a direção do campo magnético terrestre para determinar a orientação, estas anomalias são vistas como indesejáveis. No entanto, se o ambiente for rico em anomalias com variabilidade local suficiente, estas podem ser mapeadas e utilizadas como caraterísticas para efeitos de localização. O trabalho apresentado nesta dissertação visa a demonstrar que é possível conjugar as medidas odométricas de um robô móvel com medições do campo magnético, para efetivamente localizar o robô em tempo real num ambiente interior. Para esse efeito, é necessário mapear o espaço de navegação e desenvolver um algoritmo de localização. Primeiramente, são apresentadas as questões abordadas para criar um mapa magnético, nomeadamente as aquisições de dados, os métodos de interpolação e os processos de validação. Posteriormente, é retratado o algoritmo de localização desenvolvido, baseado num filtro de partículas, assim como os respetivos testes experimentais de validação.2021-05-17T12:44:58Z2021-02-25T00:00:00Z2021-02-25info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/31378engAlmeida, David Sousainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T12:00:34Zoai:ria.ua.pt:10773/31378Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:03:16.590295Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Magnetic mapping for robot navigation in indoor environments |
title |
Magnetic mapping for robot navigation in indoor environments |
spellingShingle |
Magnetic mapping for robot navigation in indoor environments Almeida, David Sousa Robot navigation Localization in indoor environments Magnetic mapping Particle filter |
title_short |
Magnetic mapping for robot navigation in indoor environments |
title_full |
Magnetic mapping for robot navigation in indoor environments |
title_fullStr |
Magnetic mapping for robot navigation in indoor environments |
title_full_unstemmed |
Magnetic mapping for robot navigation in indoor environments |
title_sort |
Magnetic mapping for robot navigation in indoor environments |
author |
Almeida, David Sousa |
author_facet |
Almeida, David Sousa |
author_role |
author |
dc.contributor.author.fl_str_mv |
Almeida, David Sousa |
dc.subject.por.fl_str_mv |
Robot navigation Localization in indoor environments Magnetic mapping Particle filter |
topic |
Robot navigation Localization in indoor environments Magnetic mapping Particle filter |
description |
Localization has always been one of the fundamental problems in the field of robotic navigation. The emergence of GPS came as a solution for localization systems in outdoor environments. However, the accuracy of GPS is not always sufficient and GPS based systems often fail and are not suited for indoor environments. Considering this, today there is a variety of real time localization technologies. It is quite common to see magnetic anomalies in indoor environments, which arise due to the presence of ferromagnetic objects, such as concrete or steel infrastructures. In the conventional ambient magnetic field based robotic navigation, which uses the direction of the Earth’s magnetic field to determine orientation, these anomalies are seen as undesirable. However, if the environment is rich in anomalies with sufficient local variability, they can be mapped and used as features for localization purposes. The work presented in this dissertation aims at demonstrating that it is possible to combine the odometric measurements of a mobile robot with magnetic field measurements, in order to effectively estimate the position of the robot in real time in an indoor environment. For this purpose, it is necessary to map the navigation space and develop a localization algorithm. First, the issues addressed to create a magnetic map are presented, namely data acquisition, employed interpolation methods and validation processes. Subsequently, the developed localization algorithm, based on a particle filter, is depicted, as well as the respective experimental validation tests. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-05-17T12:44:58Z 2021-02-25T00:00:00Z 2021-02-25 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10773/31378 |
url |
http://hdl.handle.net/10773/31378 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
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1799137687775477760 |