Mobile robot positioning method with artificial on-line modification function

A mobile robot and positioning method technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the problems affecting the calculation accuracy of displacement change, the direction error of displacement change, and the failure to meet the positioning accuracy requirements, etc. problems, to achieve the effect of avoiding measurement problems, high precision, and ensuring accuracy

Inactive Publication Date: 2013-09-18
HANGZHOU NORMAL UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0010] However, the movement characteristics of ground mobile robots are different from those of ships, mainly as follows: First, the mobile robot works on unstructured ground, and the pitch angle changes drastically, which seriously affects the displacement change d i The accuracy of the calculation; the second is that the mobile robot is often in the retreat motion state

Method used

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  • Mobile robot positioning method with artificial on-line modification function
  • Mobile robot positioning method with artificial on-line modification function
  • Mobile robot positioning method with artificial on-line modification function

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Embodiment example

[0037] A mobile robot positioning method with manual online correction function, comprising the following steps:

[0038] 1) Detect whether there is a manual correction event, if there is a manual correction event processing, if not, go to step 2);

[0039] (1.1) Obtain the exact position coordinates of the robot set by the operator on the navigation map The setting method can be manually inputting coordinates, manually clicking on the map to obtain coordinates, or manually dragging the map to obtain coordinates, etc.;

[0040] (1.2) According to the momentary position coordinates before the kth manual correction The position coordinates set at the kth correction And the position coordinates set during the k-1th correction Calculate the current heading angle correction

[0041] (1.3) Set the manual correction event flag to 1 to notify the positioning calculation.

[0042] 2) Standardize the motion parameters transmitted from the robot side, including conversion proc...

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Abstract

The invention discloses a mobile robot positioning method with an artificial on-line modification function. The method comprises the following steps of: detecting and treating artificial modification events; standardizing and distributing movement parameters; treating mileage data, course angle data, pitch angle data, speed, and advance and retreat marks; calculating the location and estimating the moving postures; converting coordinates; displaying and treating. The method has the advantages that the robot position coordinates can be artificially set on a navigation chart by operators, track reckoning primary values and course angles are modified, and accumulated errors in track reckoning are eliminated in time, so that the inertial navigation is always in the short-period working state; horizontal displacement errors caused by two factors of retreat movement of a mobile robot and s non-structural ground slope are modified. Therefore, the mobile robot positioning method can meet the requirements of the mobile robot on long-time small-area navigation.

Description

technical field [0001] The invention relates to the fields of robot navigation and positioning, especially the technical method for small-area navigation and positioning of unstructured ground mobile robots in the absence of GPS signals. Background technique [0002] With the development of sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence and other related technologies, the performance of various robots has been continuously improved, and their application range has also been continuously expanded. At present, they have not only been used in industries, Everyday fields such as agriculture, medical care, and services have also been applied to special fields such as urban security, national defense, and space exploration. [0003] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. Compa...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 董利达管林波尹俊
Owner HANGZHOU NORMAL UNIVERSITY
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