Improved particle filter-based mobile robot positioning method
A mobile robot and positioning method technology, applied in machine learning, instruments, measuring devices, etc., can solve problems such as poor particles, a large number of particles, and a large amount of calculation
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[0026] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention.
[0027] (1) Mobile robots generally use an odometer to calculate the moving distance. The working principle of the odometer is to calculate the moving distance by using the arc turned by the photoelectric encoder disc installed on the wheel within a certain period of time. Assuming that the radius of the wheel is r, the wheelbase of the two wheels is l, the output of the photoelectric encoder disc is n times / △t, and the resolution is p lines / rev, the formula for calculating the moving distance of the mobile robot is d=2πrn / p(rad), according to According to this formula, from the time t to the time t+1 of the mobile robot, the moving distance of the two wheels is d respectively due to the differential drive 1 and d 2 , through the above parameters, the displacement increment, rotation angle increment and motion radius of the robot can be o...
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