Magnetic Guide Sensor - follow magnetic line

asked 2017-11-15 07:29:28 -0500

lukup gravatar image

Does anyone have experience with magnetic guide sensors in combination with ROS or GAZEBO ?

I want to add a magnetic guide sensor to my model to follow a magnetic line on the world. I haven't found anything about this topic yet and looking forward to any advice.

Thank you in advance.

edit retag flag offensive close merge delete

Comments

Howdy. Are you asking how to simulate a magnetic sensor? (see the magnetic plugin here http://wiki.ros.org/hector_gazebo_plugins), or how to follow a magnetic line? With the latter, do you mean holding a particular magnetic heading, or aligning the sensor with the local magnetic field?

Galto2000 gravatar imageGalto2000 ( 2017-11-18 08:15:54 -0500 )edit

Hi @Galto2000 I was asking for following a magnetic track with a sensor capable of detecting and reporting the position of the magnetic field along its horizontal axis.

lukup gravatar imagelukup ( 2017-11-19 08:25:10 -0500 )edit

Do you mean you want to travel along a magnetic field line (e.g. from south to north)?

Galto2000 gravatar imageGalto2000 ( 2017-11-19 19:31:20 -0500 )edit

No, the vehicle should travel along a magnetic tape attached to the floor. I think it's only minor influenced by the terrestrial magnetic field. Similar to follow line via camera sensor only with a magnetic sensor

lukup gravatar imagelukup ( 2017-11-20 04:39:30 -0500 )edit

Gotcha. Presuming the question is how to simulate a Hall-effect sensor interacting with the magnetic tape path: I would base this on a 2D point to line segment distance computation. The magnetic tape path consists of multiple connected segments. The sensor consists of points on a line probably perpendicular to the longitudinal axis: for every point, compute the distance to each line segment. If within sensor range, use the sign to determine "left" or "right". I'd use a world-plugin for this.

Galto2000 gravatar imageGalto2000 ( 2017-11-20 17:07:16 -0500 )edit