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Fast initial localization method based on particle filter and robot equipment

A particle filter and initial positioning technology, applied in the field of robotics and navigation, can solve the problems of initialization position limitation, inaccurate initial position, inaccurate initialization parameters of particle filter, etc., and achieve the effect of accurate initial position estimation

Active Publication Date: 2019-09-06
SICHUAN CHANGHONG ELECTRIC CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention proposes a fast initial positioning method based on a particle filter and a robot device, which are used to solve the problems existing in the current technology, such as inconvenient user-specified initial positions, limited initial positions, inaccurate particle filter initialization parameters, and initial positioning requiring robot movement The problem of inaccurate initial position caused by factors such as

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  • Fast initial localization method based on particle filter and robot equipment
  • Fast initial localization method based on particle filter and robot equipment

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Embodiment 1

[0040] figure 1 A flow chart of Embodiment 1 of a fast initial positioning method based on a particle filter in the present invention is shown, including:

[0041] Step 1. Create a grid map.

[0042] Methods for building grid maps include: based on laser or vision sensors, robots move autonomously or users control robots to build maps in the working environment.

[0043] Step 2. Create grid map partitions.

[0044] The method of establishing grid map partitions includes: the program automatically establishes uniform partitions, such as square areas, supports the user to specify the side length of the square area, and the program calculates the distribution mean and variance of each partition.

[0045] The method for establishing grid map partitions also includes: the user defines partitions based on the grid map, such as partitioning according to important landmarks in the grid map, and the program calculates the distribution mean and variance of each partition.

[0046] St...

Embodiment 2

[0056] figure 2 A schematic structural diagram of a robot device for fast initial positioning based on a particle filter of the present invention, including:

[0057]A grid map building module, used to create a grid map;

[0058] A grid map partition module, used to create a grid map partition;

[0059] The initial location area specification module is used to specify the initial location area for the robot, which can be one or more grid map partitions;

[0060] The particle filter initialization module is used for the robot to initialize the particle filter parameters according to the initial position area;

[0061] The particle filter execution module is used for the iterative update of the particle filter, including the sampling particle generation process and the importance sampling process; when the iteration termination condition is reached, the iterative update is stopped and the initial position information of the robot is output.

[0062] For specific details of e...

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Abstract

The present invention discloses a fast initial localization method based on a particle filter, which comprises the following steps: a grid map is established; zones of the grid map are established; aninitial position area of a robot is specified, which can be one or more grid map zones; the robot initializes the parameters of the particle filter according to the initial position area; the particle filter is iterated and updated in the aspects of the generation process of sampling particles and the importance sampling process; when the iteration termination condition is satisfied, the iterative updating is terminated and the initial position information of the robot is output. The positioning method of the invention enables a user to conveniently and quickly specify the initial position and obtain the relatively accurate initialization parameters of the particle filter in the case of arbitrary position and no motion of the robot. Through sampling and resampling of the particle filter in a static state, the more accurate initial position estimation is obtained.

Description

technical field [0001] The invention relates to the technical field of robots and navigation, in particular to a particle filter-based rapid initial positioning method and robot equipment. Background technique [0002] With the rapid development of robot-related technologies, people's demand for robots is getting higher and higher, especially the autonomous navigation function of robots. The automatic navigation system must first load the grid map generated by the mapping system, and realize the robot's self-positioning and navigation on the map. Therefore, whether the robot starts to start the automatic navigation system or restarts after the automatic navigation system fails, the robot needs to quickly locate its initial position so that the automatic navigation system can take effect quickly. [0003] Laser-based robot self-localization algorithms usually use particle filter algorithms, and the corresponding module in the robot operating system ROS (Robot Operating Syste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王文生刘孟红
Owner SICHUAN CHANGHONG ELECTRIC CO LTD
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