Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Mobile robot fast and accurate localization algorithm based on multiple attitude correction

A mobile robot, precise positioning technology, applied in the field of robotics and computer graphics, can solve the problems of high positioning time, low positioning accuracy, error accumulation, etc., to avoid high time consumption and improve positioning accuracy.

Inactive Publication Date: 2019-09-27
UNIV OF ELECTRONICS SCI & TECH OF CHINA
View PDF9 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of error accumulation existing in the robot positioning process of existing algorithms, low positioning accuracy, and high time-consuming positioning in complex environments, and to provide a fast and accurate positioning algorithm for mobile robots based on multiple pose corrections

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot fast and accurate localization algorithm based on multiple attitude correction
  • Mobile robot fast and accurate localization algorithm based on multiple attitude correction
  • Mobile robot fast and accurate localization algorithm based on multiple attitude correction

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] This embodiment provides a fast and accurate positioning algorithm for a mobile robot based on multiple pose corrections. The embodiment of the present invention uses a HUSKY A200 robot for algorithm verification. The robot is equipped with an industrial computer of the ROS system, a motion control module, an information collection module, Inertial measurement unit, odometer and other components, externally equipped with LMS151 two-dimensional laser radar, visual camera, infrared thermal imaging camera and other components. The grid map used in the embodiment of the present invention is built by the robot through gmaping, an open source SLAM framework. The algorithm is tested in two parts: positioning accuracy and positioning time. In the positioning accuracy test part, the robot records data every time it moves 80 cm or rotates 20 degrees. A to...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a mobile robot fast and accurate localization algorithm based on multiple attitude correction, and belongs to the technical field of robots and computer graphics. According to the algorithm, the data of the IMU and the odometer are fused by using the UKF combined with the robot motion model, and the fusion result is used as the AMCL motion model sampling data source. Then the second time of attitude correction is performed on the robot by using the known global raster map and lidar measurement as observation. Then laser scanning is converted into NDT distribution by the NDT algorithm, and the attitude corrected by the AMCL algorithm is used as the initial transformation. The current scanning NDT distribution is matched with the global map converted into NDT distribution beforehand, and the transfer matrix is corrected so as to realize the last attitude correction. The method can make the robot realize fast and accurate localization in the complicated terrain and solves the problems of error accumulation of the odometer and the accelerometer, single information source of the sensor used in the positioning algorithm and high time consumption of the point cloud matching algorithm in the complicated terrain.

Description

technical field [0001] The invention belongs to the technical field of robots and computer graphics, in particular to a fast and precise positioning algorithm for a mobile robot based on multiple pose corrections. Background technique [0002] As mankind enters the era of information industry revolution, artificial intelligence technology is developing rapidly, and mobile robot technology is developing and innovating at an unprecedented speed, gradually penetrating various industries. Positioning technology, as the fundamental way for mobile robots to recognize their own position in the environment, has always been a research hotspot in the field of robotics. However, many positioning algorithms only target a single sensor, and some algorithms only use a single algorithm to fuse data from many sensors. These two methods can make the robot achieve a certain positioning accuracy in a special environment, but in a complex environment, the positioning accuracy is often reduced ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01S17/93
CPCG01C21/005G01C21/165G01S17/93
Inventor 左琳刘玉祥张昌华刘宇陈勇何配林姬兴亮
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com