Magnetic Tracking With Real-Time Geomagnetic Vector Separation for Robotic Dockable Charging

High-precision pose adjustment for the self-charging of mobile robots remains a significant challenge. Permanent magnet (PM)-based magnetic tracking technique is a promising technical solution, with occlusion-free and simultaneous positioning and orientation tracking. However, the superposition of the geomagnetic vector and the magnetic field vector generated by the PM leads to the degrading of magnetic tracking performance. Thus, a magnetic tracking technique with real-time geomagnetic vector separation is investigated in this study. Firstly, the environmental magnetic field is accurately modeled, consisting of the PM field, uniform disturbance field, and non-uniform disturbance field. For the uniform disturbance field, the authors combine it with the PM pose as unknown parameters to be estimated. For the non-uniform disturbance field, a robust kernel function is employed to diminish its influence on positioning performance. Finally, the PM pose and geomagnetic vector are simultaneously estimated by optimization algorithms. A docking experiment for self-charging mobile robots was carried out based on the proposed tracking technique. The robot can successfully recharge its battery with only one alignment operation, where the repeat parking accuracy at the anchor point is 1.38 mm and ±1.27°, respectively.

• Record URL:
  • https://doi.org/10.1109/TITS.2023.3304298
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Su, Shijan
  • Dai, Houde
  • Zhang, Yuanchao
  • Yuan, Sishen
  • Song, Shuang
  • Ren, Hongliang
• Publication Date: 2023-12

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 13830-13840
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 24
  • Issue Number: 12
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Electric vehicle charging; Mobile robots; Permanent magnets; Tracking systems
• Subject Areas: Data and Information Technology; Energy; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01906122
• Record Type: Publication
• Files: TRIS
• Created Date: Jan 26 2024 4:25PM