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Single mobile robot indoor positioning method based on laser radar

A mobile robot and lidar technology, which is applied in the re-radiation and utilization of re-radiation of instruments, electromagnetic waves, etc., can solve problems such as the influence of GPS positioning accuracy and cannot solve indoor positioning problems well, and achieves simple implementation and indoor positioning. The effect of low precision and good applicability

Pending Publication Date: 2021-01-29
HANGZHOU DIANZI UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the indoor environment, mobile robots equipped with GPS cannot solve the indoor positioning problem well, because in the indoor environment, the positioning accuracy of GPS will be affected.

Method used

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  • Single mobile robot indoor positioning method based on laser radar
  • Single mobile robot indoor positioning method based on laser radar
  • Single mobile robot indoor positioning method based on laser radar

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Embodiment Construction

[0034]In order to describe the present invention more specifically, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0035] Such as figure 1 As shown, the indoor positioning method of a single mobile robot based on laser radar proposed by the present invention comprises the following steps:

[0036] Step 1: The upper controller plans an indoor moving path for a mobile robot equipped with lidar, and controls it to move to the starting point of the path. The mobile robot starts to move from the starting point of the path, moves along the specified path, and stops at the end of the path. The movement start time is t 0 , the termination time is t n and the current moment is t, t∈[t 0 ,t n ];

[0037] Specifically, the upper controller plans the indoor moving path process for the mobile robot as follows:

[0038] at t≠t 0 time, the number of the same reflectors detecte...

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Abstract

The invention discloses a single mobile robot indoor positioning method based on a laser radar. An indoor reflector is located in a mode that a mobile robot loaded with the laser radar moves and scansindoors. An upper-layer controller plans an indoor moving path for a mobile robot loaded with a laser radar and controls the mobile robot to move to a path starting point. The mobile robot establishes a global coordinate system at the original point, scans reflectors in the position detection range of the mobile robot, calculates global coordinates of the reflectors, scans the reflectors in the position detection range of the mobile robot at the next moment, calculates global coordinates of the reflectors in the detection range; and the above steps are repeated at each moment in sequence until the mobile robot moves to the end point of the specified path, and all the recorded reflector global coordinates are processed. The method provided by the invention has high flexibility, can effectively solve the problem of low indoor positioning precision, is simple to implement and has very good applicability.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning, and in particular relates to an indoor positioning method for a single mobile robot based on laser radar. Background technique [0002] In the field of robot application, an unknown indoor scene information is very important. Obtaining the information of the indoor environment through the reflector is very helpful for the robot to perform the next task. [0003] In the indoor environment, mobile robots equipped with GPS cannot solve the indoor positioning problem well, because in the indoor environment, the positioning accuracy of GPS will be affected. Distance and angle information are the most common measurement information in environmental perception. Research on positioning algorithms using distance and angle information has important practical significance in the field of indoor positioning. Distance and angle information can be accurately measured using lidar. Lidar is a radar ...

Claims

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Application Information

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IPC IPC(8): G01S17/06
CPCG01S17/06
Inventor 郑林聪林志赟韩志敏王博
Owner HANGZHOU DIANZI UNIV
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