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Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot

A technology for optimizing the target and positioning method, which is applied in the direction of finding the control of the target, and can solve the problem that the drift error will accumulate over time.

Active Publication Date: 2014-07-02
江苏久祥汽车电器集团有限公司
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Problems solved by technology

The advantage of the dead reckoning algorithm is that the pose of the robot is calculated by itself and does not require the perception information of the external environment. The disadvantage is that the drift error will accumulate over time.

Method used

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  • Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot
  • Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot
  • Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0027] Such as figure 1 As shown, the present invention mainly relates to an intelligent robot in a home environment, which is an autonomous mobile robot with environmental awareness, simultaneous positioning and map creation, and obstacle avoidance path planning. It includes a perception system, a core control module, a human-computer interaction system, and a motor drive system. The perception system accepts audio and...

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Abstract

The invention provides a novel robot self-positioning and target recognition algorithm based on omni-vision aiming at the problem of self-positioning and target recognition of service robots in the family environment. According to the method, the advantages of the two positioning algorithms used most frequently currently, namely the FastSLAM particle filter algorithm and the matching optimization positioning algorithm are combined to make up the defects of each other, so that high-precision self-positioning is achieved in real time and effective global positioning and obstacle avoidance path planning are achieved, and the positioning algorithm is made to be highly robust to various dynamic factors, such as severe blocking of a visual system, high-speed dynamic confrontation of the robot and changing light conditions, of the environment.

Description

[0001] technical field [0002] The application relates to the field of autonomous navigation of intelligent robots, specifically to the field of positioning and target recognition of robots, especially to a target positioning method and robot based on the infinite FastSLAM algorithm and matching optimization. [0003] Background technique [0004] Intelligent robots, such as sweeping robots and robots, are more and more widely used in family life. To move flexibly, efficiently and intelligently, robots need to have autonomous navigation capabilities. Map Building, Location and Path Planning are the three key elements of autonomous navigation. The invention mainly relates to the field of map creation and simultaneous positioning. Among them, map creation and positioning are interdependent. Without an environmental map, the position of the robot cannot be accurately calibrated. If the initial position is uncertain, the created map lacks reference points. For this reason, t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
Inventor 蔡则苏王丙祥王玲
Owner 江苏久祥汽车电器集团有限公司
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