METHOD FOR ESTIMATING AND CORRECTING POSITION ERROR OF MOBILE ROBOT WITH HALL SENSOR

摘要

PURPOSE: A method for estimating and correcting the position error of a mobile robot using a hall sensor is provided to correct the position error of a robot by moving the robot as an estimated position error. CONSTITUTION: A method for estimating and correcting the position error of a mobile robot using a hall sensor is as follows. A mobile robot is stopped at a landmark. Voltages of Four hall sensors on the bottom surface, in which the mobile robot is located, are detected. The shortest horizontal distances(l1,l2,l3,l4) between the hall sensors and the magnets of the landmark are calculated using a relational expression of hall sensor output voltage-hall sensor position. The position errors of the mobile robot, which is out of the origin(0) of a landmark coordinate system, are estimated using the shortest horizontal distances.