Position sensing system for magnet based autonomous vehicle and robot using 1-dimensional magnetic field sensor array

In this paper, a position sensing system for magnet based autonomous vehicle and robot using 1-diemnsional magnetic field sensor array was described, In advanced vehicle and robot control, position sensing is an important task for the identification of their locations, such as the lateral position within a trajectory. The magnet based autonomous vehicle and robot was identified position using magnetic materials. In the magnetic sensing system, the Earth field is a disturbance. It should be estimated a real-time. And, the memory space should be reduced in implementation. To solve the above problems, this paper proposes the magnetic field sensor array system included a vertical component of magnetic field, a linear region of the sensor output, method of position determination using a simple equation with a microcontroller. The proposal is verified practicability for magnetic position sensing system by the experimental results.