Particle filter positioning method for micro-robots based on infrared ranging

A technology of infrared ranging and particle filtering, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve the problems of large size and difficult application of sonar sensors and laser sensors, and achieve high positioning efficiency and saving. Storage space, the effect of accelerating the positioning process

Inactive Publication Date: 2016-05-04
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

The objects involved in the above two articles are relatively large robots. The positioning method based on the sonar sensor and laser sensor particle filter is used. The size of the sonar sensor and laser sensor is very large, so it is difficult to apply to the size of tens of cubic meters. on microrobots within centimeters

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  • Particle filter positioning method for micro-robots based on infrared ranging
  • Particle filter positioning method for micro-robots based on infrared ranging
  • Particle filter positioning method for micro-robots based on infrared ranging

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Embodiment Construction

[0019] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0020] Let X be the estimated quantity, its prior distribution is p(X), Z 1:k is the k observations of X, and its conditional probability density function is p(Z 1:k |X), then the Bayesian formula can be used to obtain the posterior probability density function

[0021] Bayesian formula:

[0022] p ( X | Z 1 : k ) = ...

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Abstract

The invention provides an infrared distance measurement-based method for positioning a micro-robot particle filter. The method comprises the following steps: step 1, establishing an initial state particle set according state prior distribution; step 2, sampling; step 3, calculating a weight; step 4, outputting a state; and step 5, resampling. The method aims at the characteristic that a micro-robot is small in size, and an infrared sensor of small size is used as a distance measurement sensor of the micro-robot; because of the limited storage capacity of the micro-robot, a method of storing a map in different blocks is adopted; due to the influence of the size effect, a position sensor cannot be installed on the micro-robot, so that a step counting method is adopted for a motion model. Therefore, the self-positioning of the micro-robot in a structuralized environment is realized; and moreover the positioning efficiency is higher, so that certain positioning precision is ensured.

Description

technical field [0001] The invention relates to a micro robot positioning method, in particular to a micro robot positioning method based on infrared sensor and particle filter estimation. Background technique [0002] With the development of MEMS technology and related technologies, mobile micro-robots have become an important development direction of robotics. The miniaturization of robots has opened up a broader prospect for the application of robots, such as detection in micro-scale space, replacing people in micro-factories, removal of hazardous waste, detection of micro-scale pipelines, etc. These applications have greatly expanded The scope of application of the robot. To be able to accomplish these tasks, mobile microrobots must be able to self-localize in the working environment. The so-called mobile robot self-localization is the process of determining the robot pose based on prior map information, combined with current pose observations and sensor input informat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 陈佳品毛玲张大伟李振波唐晓宁
Owner SHANGHAI JIAO TONG UNIV
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