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High-precision mobile robot two-dimensional map data fusion method

A mobile robot, two-dimensional map technology, applied in the field of robotics, can solve problems such as large errors

Inactive Publication Date: 2012-09-05
黎亮 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the laser also has its own shortcomings. For example, when encountering reflective objects such as mirrors, large errors will occur.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

example 1

[0008] Example 1: Linear interpolation compensation method for laser distance data

[0009] If the obtained distance data are 1.10m, 0m, 0m, 0m, 0m, 1.30m respectively. Among them, the first and sixth distance data 1.10m and 1.30m are valid data, while the middle four 0m data are errors caused by obstacles and environmental factors.

[0010] Then, through the linear interpolation compensation method of laser data, the compensated distance data can be obtained: 1.10m, 1.14m, 1.18m, 1.22m, 1.26m, 1.30m.

example 2

[0011] Example 2: Fusion method of laser and sonar distance data

[0012] The fusion of laser and sonar distance data is based on the obstacle data information obtained at the same time and at the same angle, and the corresponding weights are different for different values ​​​​of the far and near distance data obtained by the sonar sensor.

[0013] If the distance data obtained by the sonar sensor is: 1.2m, 0.4m, 0.5m, 1.8m, 2.5m, 1.1m, then according to the characteristics of the sonar sensor and the empirical value of the experimental data, the weights are: 15, 30, 30, 7, 5, 15.

[0014] Through different weights, in all laser distance data, the range of replaced data is different. The higher the weight, the more the number of alternative distances, and the smaller the weight, the fewer the number of alternative distances.

example 3

[0015] Example 3: Neighborhood averaging method for distance data after preliminary fusion

[0016] If the distance data obtained at the following times and angles are as follows:

[0017]

Moment 1

Moment 2

Moment 3

Moment 4

Moment 5

Angle 90.1°

1.10m

Angle 90.2°

1.11m

Angle 90.3°

1.10m

1.11m

1.12m

1.13m

1.14m

Angle 90.4°

1.13m

Angle 90.5°

1.14m

[0018] Then at time 3, at an angle of 90.3°, the data is smoothed by calculating the average value of the temporal and spatial neighborhoods.

[0019] Calculation method: (1.10+1.11+1.12+1.13+1.14+1.10+1.11+1.13+1.14) / 9=1.12m

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Abstract

The invention provides a high-precision mobile robot two-dimensional map data fusion method, which is applied to relative fields including a robot, automatic industry control, unmanned driving of automobiles and the like. The technology mainly solves the problem in a positioning and navigating technology that peripheral obstacle distance information of a mobile robot in a two-dimensional map cannot be rapidly and accurately obtained. Linear difference value compensation treatment is carried out on laser data and the data are received and sent in turns so as to avoid cross interference of a plurality of sonar sensors. Laser distance information is revised according to a weight of sonar distance data, and laser data and the sonar data are fused into a group of data. According to the method disclosed by the invention, an error generated by various factors in a system is gradually reduced and the precision of an obstacle distance in the two-dimensional map is improved. The high-precision mobile robot two-dimensional map data fusion method can be effectively used for the mobile robot and an automobile unmanned driving system.

Description

technical field [0001] The invention is applied to related fields such as robots, automated industrial control, and unmanned automobiles. In the mobile robot system, the navigation and positioning technology is the key to the robot's autonomous walking. It is necessary to quickly and accurately obtain the obstacle information of the surrounding environment through the various sensors of the robot, so that the robot can walk safely. Background technique [0002] In the application of mobile robot technology, it is necessary to accurately perceive the environment around the mobile robot through sensors. On the one hand, it can effectively avoid obstacles. On the other hand, in order to obtain more accurate environmental information, a flat electronic map of the surrounding environment can be constructed. And determine the location of the mobile robot itself through the electronic map. However, the entire map is not known in advance, and the robot is constructed through sensor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/87G01S7/48
Inventor 黎亮张全彪
Owner 黎亮
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