A mobile robot positioning method with manual online correction function

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...

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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 during the operation, and the displacement change d i There will be directional errors; the third is due to the one-time setting of the initial coordinates (x 0 ,y 0 ) and initial heading angle θ 0 , will cause long-term navigation accumulation errors, resulting in the mobile robot failing to meet the ideal positioning accuracy requirements when working in a small area

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