GLOBAL POSITION ESTIMATION AND CORRECTION METHOD OF MOBILE ROBOT USING MAGNETIC LANDMARKS

摘要

The present invention relates to a positional error estimation and correction method of a mobile robot, and more specifically, to a global position estimation and correction method of a mobile robot using magnetic landmarks, in which the mobile robot recognizes patterns of a particular landmark and a neighboring landmark and compares the recognized patterns with a stored landmark space map, if the mobile robot with four hall sensors attached on the bottom surface thereof moves on a mobile plate on which multiple kinds of landmarks formed by changing the arrangement of magnets are disposed, thereby easily estimating coordinate values of an absolute position of a landmark at which the mobile robot is currently positioned, and easily correcting positional errors of the mobile robot. The present invention, that is, the global position estimation and correction method of the mobile robot using the magnetic landmarks, is comprised of constituent means, and the global position estimation and correction method of the mobile robot using the magnetic landmarks comprises the steps of: estimating coordinate values of an absolute position of a landmark at which the mobile robot is currently positioned, by recognizing a pattern of a particular landmark at which the mobile robot is positioned and a pattern of a neighboring landmark; estimating positional errors (xe, ye, ?e) of the mobile robot which deviates from the estimated coordinate values of the absolute position of the landmark; and correcting the positional errors by moving the mobile robot as much as the estimated positional errors (xe, ye, ?e), so that the mobile robot may move to the coordinate values of the absolute position of the landmark.