The Localization of Mindstorms NXT in the Magnetic Unstable Environment Based on Histogram Filtering

Piotr Artiemjew

Abstract

During the localization of a robot equipped with a magnetic compass we can encounter the problem of magnetic deviations in the building. It can be caused by electric power sources, working devices or even by the heating system. Magnetic deviations make it difficult to localize the robot in a proper way and could cause the loss of position on the map. In the paper we have tested the method of histogram localization using a map of north directions and emergency north direction. For tests we have designed the robot based on the Mindstorms NXT parts. Our construction consists of NXT brick, four sonars, one compass, one touch sensor and two sensor multiplexers. All software was developed in C++ in the NXT++ library, which is actively supported by the author. Tests were performed in the real environment and the proposed tuned localization method turned out to be resistant to magnetic deviations

References

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Paper Citation


in Harvard Style

Artiemjew P. (2015). The Localization of Mindstorms NXT in the Magnetic Unstable Environment Based on Histogram Filtering . In Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-074-1, pages 341-348. DOI: 10.5220/0005193803410348


in Bibtex Style

@conference{icaart15,
author={Piotr Artiemjew},
title={The Localization of Mindstorms NXT in the Magnetic Unstable Environment Based on Histogram Filtering},
booktitle={Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2015},
pages={341-348},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005193803410348},
isbn={978-989-758-074-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - The Localization of Mindstorms NXT in the Magnetic Unstable Environment Based on Histogram Filtering
SN - 978-989-758-074-1
AU - Artiemjew P.
PY - 2015
SP - 341
EP - 348
DO - 10.5220/0005193803410348