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Positioning method for indoor mobile robot

A mobile robot and positioning method technology, applied in positioning, instruments, measuring devices, etc., can solve the problems of a large number of ultrasonic sensors, large positioning errors, and blind spots

Active Publication Date: 2014-01-01
HARBIN INST OF TECH
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Problems solved by technology

These methods have shortcomings such as a large number of ultrasonic sensors, large positioning errors, and blind spots.

Method used

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  • Positioning method for indoor mobile robot
  • Positioning method for indoor mobile robot
  • Positioning method for indoor mobile robot

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Embodiment Construction

[0034] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings, but it is not limited to this. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be covered by the technical solution of the present invention. in the scope of protection.

[0035] The invention uses a passive ultrasonic network positioning system to locate the indoor mobile robot. The ultrasonic network positioning system is mainly divided into three modules: a control module, an ultrasonic transmitting module and an ultrasonic receiving module. Both the ultrasonic transmitting module and the receiving module contain a radio frequency module, which can transmit and receive radio frequency signals. The distance between the ultrasonic transmitting module and the receiving module is measured by the ult...

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Abstract

A positioning method for indoor mobile robots belongs to the technical field of mobile robot positioning. The invention provides a multisensor fusion asynchronous time of arrival (ATOA) indoor positioning method based on a single ultrasonic sensor, an encoder and an electron compass, and provides a double-layer Kalman filtering (DLKF) data fusion model. Based on the DLKF model, the ATOA method can effectively eliminate accumulated error in dead-reckoning to obtain high precision of positioning, greatly reduces the quantity of ultrasonic sensors for positioning, and effectively overcomes the disadvantage of blind areas in ultrasonic sensor positioning. Based on the DLKF model, the ATOA method can effectively eliminate accumulated error in dead-reckoning to obtain good precision of positioning, and greatly reduces the quantity of ultrasonic sensors for positioning.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning, and relates to an indoor positioning method for a robot. Background technique [0002] As the basis of robot navigation, localization has always been one of the hotspots in the field of robot research. Indoor positioning methods can be divided into relative positioning and absolute positioning. Relative positioning mainly uses the encoder installed on the robot to perform dead-reckoning according to the initial pose. However, as the navigation distance of the robot increases, the positioning error It will accumulate, and it is necessary to introduce absolute positioning means to assist. Absolute positioning is to estimate the absolute pose of the robot in the reference coordinate system by using the surrounding environment features detected by one or more external sensors such as ultrasonic sensors, vision sensors, and laser radars. Compared with other environmental sensing sen...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/005G01C21/206G01S5/22
Inventor 高云峰刘文涛李瑞峰周伦吕明睿
Owner HARBIN INST OF TECH
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