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2D laser data-based real-time positioning method of robot

A real-time positioning and robot technology, applied in the field of inspection robots, can solve the problems of low positioning accuracy and low real-time performance of positioning algorithms, and achieve the effects of improving positioning accuracy, increasing effective usage, and optimizing memory usage.

Active Publication Date: 2019-08-02
GUIZHOU POWER GRID CO LTD
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AI Technical Summary

Problems solved by technology

[0003] In view of this, the purpose of the present invention is to provide a real-time positioning method for robots based on 2D laser data, which is used to solve the problems of low real-time performance and low positioning accuracy of current positioning algorithms

Method used

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  • 2D laser data-based real-time positioning method of robot
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  • 2D laser data-based real-time positioning method of robot

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Embodiment Construction

[0034] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, but not for limiting the protection scope of the present invention.

[0035] Such as figure 1 Shown, a kind of robot real-time positioning method based on 2D laser data of the present invention comprises the following steps:

[0036] Step 1: Create a particle filter and generate a sampling particle set Let k=0, where x represents a single particle, k is a certain moment, i is the index number of the particle, and N is the total number of particles;

[0037] Step 2: Initialize the particles and limit the particles to the walkable area of ​​the robot;

[0038] Step 3: If the current update value of the robot is greater than the threshold, update the odometer model and the laser data model, and process the laser data model in separate t...

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Abstract

The invention discloses a 2D laser data-based real-time positioning method of a robot. The 2D laser data-based real-time positioning method is mainly used for solving the problem of low real-time performance and excessively low positioning accuracy of an existing robot positioning algorithm. On the basis of 2D laser data, an automatic Monte-Carlo algorithm is used as a basis, the gesture of the robot is updated in real time by the laser data according to a speed of the robot, and unreasonable gesture is filtered according to estimated gesture confidence. The method is used for positioning therobot, relatively high real-time performance is achieved, and moreover, the positioning accuracy can be controlled with a range being 1 centimeter.

Description

technical field [0001] The invention relates to the technical field of inspection robots, in particular to a real-time robot positioning method based on 2D laser data. Background technique [0002] With the continuous development of the economy, the demand for unmanned control of robots is becoming stronger and stronger, and the most important thing for unmanned control of robots is that the robot can perceive its own pose in real time, and the positioning accuracy must be controlled within a certain range. With the continuous development of SLAM (Simultaneous Positioning and Mapping) technology, the real-time performance and accuracy of the robot's positioning and navigation have been effectively improved. In "Review of Simultaneous Positioning and Map Construction Methods Based on Monocular Vision", Liu Haomin et al. used a vision scheme to estimate the pose of the robot. , which effectively improves the positioning accuracy, but in order to ensure real-time positioning, ...

Claims

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Application Information

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IPC IPC(8): G01S17/46G01C21/00G01S7/48
CPCG01S17/46G01C21/005G01S7/4808Y02T10/40
Inventor 陈锦龙陈俊全杜江张丹安甦王兴国聂乐魁伍仕红黄晓旭朱椤方张旭陈恩黔赵翔宇陈卓陈龙
Owner GUIZHOU POWER GRID CO LTD
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