Synchronous positioning and map construction method of moving robots based on ultrasonic sensors

Abstract

The invention discloses a synchronous positioning and map construction method of moving robots based on ultrasonic sensors. The objective of the invention is to solve a problem of failure of precise positioning and of map construction caused by too sparse data acquired by an ultrasonic sensor used by the current robot. The method comprises steps of 1, setting multiple ultrasonic sensors in each position of a robot; 2, acquiring measurement data through the ultrasonic sensors arranged on the body of the robot; 3, combining the ultrasonic measurement data acquired in the continuous time periods; 4, predicting the position of the robot at the current moment; 5, according to the combined measurement data and matching conditions of an existing map, determining the final position of the robot at the current moment through particle scores; and 6, updating the environmental map. According to the invention, based on the ultrasonic sensors, by combining the positioning algorithm, the position of the moving robot and the map of the surrounding environment are obtained; the method is quite low in cost and easy to achieved; positioning precision of the robot in the moving process is improved; and the method can be used for controlling the moving robot.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a multi-ultrasonic sensor-based method for synchronous positioning and map construction of a mobile robot, which can be used for intelligent robot control. Background technique [0002] With the advancement of science and technology, the development of robots is changing with each passing day. This mobile robot that performs tasks automatically can not only accept human commands, but also run pre-programmed programs, and can also act according to the principles specified by artificial intelligence technology, thereby assisting or replacing humans. some work. For example, the household robots that people often come into contact with in daily life are closely related to people's lives. They have been widely used in home services, entertainment, and cleaning. They have brought great help to people's lives and have become an inseparable part of human future life. part. However, to a...

AI Technical Summary

Problems solved by technology

However, for the use of ultrasonic sensors, due to the limited accuracy of ultrasonic measurement, they are often only used for obstacle avoidance in existing mobile robot technology, and are rarely used for positioning and building maps. Most mobile robot platforms are only equipped with a small amount of ultrasonic sensors. The ultrasonic data obtained by the sensor module is too sparse, and the information it brings is not enough to realize the simultaneous positioning and map construction of the mobile robot, and cannot meet the requirements of the path planning of the mobile robot

Images