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Mobile robot path planning method

A mobile robot and path planning technology, applied in instruments, road network navigators, navigation, etc., can solve problems such as insufficient stability and positioning accuracy, achieve accurate position prediction results, reduce complexity and depth, increase stability and The effect of positioning accuracy

Pending Publication Date: 2020-05-08
ANHUI TECHN COLLEGE OF MECHANICAL & ELECTRICAL ENG
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Problems solved by technology

In this way, EKF-SLAM can efficiently estimate the past, current, and even future states of motion without knowing the detailed nature of the robot, but the stability and positioning accuracy of this method are still insufficient.

Method used

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Experimental program
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Embodiment approach

[0065] As an implementation manner, estimating the position of the mobile robot according to the current mileage of the mobile robot includes:

[0066] Calculate the covariance of the position of the mobile robot, the covariance of the landmark, and the covariance between the mobile robot and the landmark and the landmark, and construct the covariance matrix;

[0067] Jacobian matrix for predicting mobile robot prediction model

[0068] The covariance matrix is ​​updated according to the control mileage of the mobile robot and the Jacobian matrix of the prediction model to predict the current position of the mobile robot.

[0069] Covariance is used in probability theory and statistics to measure the overall error of two variables. The covariance of two variables provides a measure of the degree of correlation between these two variables. The covariance matrix can be used to express the probability density of multi-dimensional random variables, so that the study of multi-dimensional ...

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Abstract

The invention discloses a mobile robot path planning method. An EKF-SLAM algorithm optimized based on a Levenberg-Marquardt method, mobile robot global path planning based on a potential field ant colony algorithm, and an optimal path searching method integrating mobile robot global path planning and local path planning are provided; and after a robot simulation experiment, autonomous navigation of the indoor mobile robot is completed. Compared with a traditional method, the mobile robot path planning method has the following advantages: the stability and the positioning precision of the extended Kalman algorithm can be improved. And the effectiveness after improvement is verified in combination with a simulation experiment, so that a position prediction result is more accurate, and a better path plan is obtained.

Description

Technical field [0001] The invention relates to the technical field of robotic control, in particular to a path planning method for a mobile robot. Background technique [0002] In recent years, with the development of science and technology and the improvement of people's living standards, robots have gradually entered people's lives. As the basis for robots to provide high-quality services to humans, robot-oriented positioning is gradually becoming a research hotspot in this field; [0003] In the past ten years, various solutions to SLAM problems have emerged in the robotics circle. Among them, the EKF-SLAM method based on the extended Kalman filter (EKF) has been widely recognized and widely used. This method first estimates the state at a certain moment in the movement process, and then measures the variable (with noise) Get feedback, and finally revise the estimate based on the feedback. In this way, EKF-SLAM can efficiently estimate the past, current, and even future stat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 周明龙程晶晶马运强
Owner ANHUI TECHN COLLEGE OF MECHANICAL & ELECTRICAL ENG
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