Six-Axis Magnetometer/Accelerometer-Assisted Mobile Robot Indoor Navigation

Resumo

Yaw/Heading measurement is an important parameter for the pose determination of the mobile robot. Yaw/heading can assist the mobile robot in localization much needed for autonomous navigation. There are various sensors available to measure the Yaw/heading that may require pre or post-processing of the data. This paper presents a low-cost and efficient six-axis magnetometer/accelerometer LSM303DLHC (GY 511) sensor for direct measurement of the Yaw/heading. The yaw values were recorded in real time with a data logger while the mobile robot was tracking a line with the help of IR sensors. It establishes that the change in yaw values due to turns on track corresponds to real-time movements/navigation of the mobile robot. Additionally, experiments were performed that demonstrate that the mobile robot can navigate autonomously, fetching yaw values from LSM303DLHC, and avoiding obstacles. The heading values from the LSM303DLHC sensor were found to be consistent with time and suitable for educational/research projects