Positioning method based on environment line features

A technology of straight line feature and positioning method, applied in two-dimensional position/channel control and other directions, can solve the problems of large cumulative error, time-consuming and labor-intensive, unable to form a closed loop, etc., and achieve the effect of high precision
CN104503449AInactive Publication Date: 2015-04-08HANGZHOU SHENHAO TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
HANGZHOU SHENHAO TECH
Publication Date
2015-04-08
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention discloses a positioning method based on environment line features. The method comprises the following steps: 1) a global coordinate system is set; 2) an environment feature map is built; 3) a robot starts to continuously scan environment information from a starting point; 4) filter processing is carried out on scanning data points; 5) the data points after scanning are divided into different types; 6) IEP algorithm is adopted to carry out line feature recognition on each type; 7) a line is drawn from the data point collection of the line features, and feature parameters are calculated; 8) the line features are converted under the global coordinate system from under a laser coordinate system, and laser scanning data are used for correcting dead-reackoning errors of inertial navigation; 9) the obtained line features are added to the environment feature map; 10) the above steps are repeated, and the environment feature map is obtained; and 11) the robot starts to move from the starting point, and the environment features scanned continuously and the built environment feature map are matched for realizing self positioning.
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Description

technical field

[0001] The invention belongs to the technical field of mobile robot positioning, and in particular relates to a positioning method based on environmental straight line features. Background technique

[0002] In the application of mobile robots, navigation and positioning are the key functions of the robot system. Navigation means that the mobile robot obtains environmental information and its own position and posture state through sensors, and realizes autonomous movement to the destination in the environment of obstacles. The key and premise of navigation is positioning, which refers to determining the position and posture of the robot itself in the environment in real time.

[0003] At present, the more common robot positioning technology is mainly based on the prior environmental information, combined with the current robot position information and the information obtained by the sensor to determine the robot pose state. Positioning technology is mainly ...

Claims

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