Mobile robot pose correction algorithm based on multi-level map matching

Abstract

The invention discloses a mobile robot pose correction algorithm based on multi-level map matching, which belongs to the technical fields of robotics and computer graphics. The algorithm of the invention uses a synchronous positioning and a composition algorithm to establish a global raster map, and combines a matching relationship between the current observation and the raster map to correct thetrack calculated by the track using an AMCL algorithm for reckoning the pose, so that the relatively accurate global pose information can be obtained, at the same time, the raster map is converted toa corresponding global target point cloud map, and the laser point cloud observed by the robot in real time is registered with the target point cloud map to further correct the global pose. The methodof the invention can obtain accurate global pose information and reduce the accumulation of long-distance positioning errors, and avoids the shortcomings of an existing particle filter technology that the pose solution is not accurate due to a limited particle space, the accuracy and efficiency of an ICP algorithm are too dependent on the initial pose, and efficient and accurate pose solution canbe realized.

Description

technical field [0001] The invention belongs to the technical field of robots and computer graphics, and in particular relates to a pose correction algorithm of a mobile robot based on multi-level map matching. Background technique [0002] With the continuous development of artificial intelligence, the application of robots is becoming more and more extensive. In order to ensure that the robot can adapt to different and complex environments, higher requirements are put forward for the intelligence of the robot. The autonomous navigation and positioning technology of mobile robots is the core of robotics, and positioning is the primary problem to be solved, which has attracted the attention of many researchers. The positioning problem can be divided into two sub-problems, one is the local position tracking problem where the initial position of the robot is known, and the other is the global positioning problem where the initial position is unknown. Local position tracking ...

AI Technical Summary

Problems solved by technology

[0010] The purpose of the present invention is to solve the problem that the existing positioning algorithm has a large error in solving the robot pose, the error will accumulate with the increase of the distance, and it is difficult to ensure real-time performance, and provide a mobile robot pose based on multi-level map matching Correction Algorithm

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