METHOD AND APPARATUS FOR LOCALIZATION OF MOBILE ROBOT USING INDOOR MAGNETIC FIELD

摘要

A method and apparatus for recognizing a position of a mobile robot using an indoor magnetic field are disclosed. A method of recognizing a position of a mobile robot according to an embodiment of the present invention includes generating a loop closing constraint based on magnetic field values measured for nodes formed on a moving path of the mobile robot; And estimating a position of the mobile robot on the basis of a graph structure using the loop closing constraint. The method further includes generating a rotation constraint condition based on a magnetic field value measured while the mobile robot rotates And the step of estimating the position of the mobile robot can estimate the position of the mobile robot on the basis of the graph structure using the loop closing constraints and the rotational constraints.;