Determination method and apparatus for position and orientation of mobile robot

Abstract

Embodiments of the invention relate to a determination method and apparatus for the position and orientation of a mobile robot. The method comprises the following steps: in virtue of simultaneous localization and mapping (SLAM) technology, establishing a global map of an environment where the mobile robot plays a navigation role by using a laser scanner; when the mobile robot is energized, establishing a local map of an environment in the energization moment of the mobile robot by using a laser scanner in virtue of SLAM technology; and subjecting the local map to image matching in the global map so as to obtain the initial position and orientation of the mobile robot in the global map. According to the embodiments of the invention, the absolute position and orientation of the mobile robot in the global map in the moment the mobile robot is energized and started can be obtained, thereby realizing initialization of the position and orientation of the mobile robot; moreover, determined position and orientation of the mobile robot can be further corrected.

Description

technical field [0001] Embodiments of the present invention relate to a pose determination method in mobile robot navigation, especially a pose initialization method based on a laser scanner, and a pose correction method. Background technique [0002] At present, all navigation strategies, whether outdoor or indoor navigation, must solve the pose initialization problem when the mobile robot is powered on and started. The accuracy of the initial pose affects the accuracy and stability of the subsequent navigation. Due to the maturity of the current global positioning system (GPS), the absolute pose based on the earth coordinate system can be obtained outdoors at all times, so the power-on pose initialization has been well solved outdoors. But in the field of indoor navigation, it is still immature. [0003] Inertial navigation and positioning technology and laser navigation and positioning technology are two kinds of relatively mature indoor navigation and positioning method...

AI Technical Summary

Problems solved by technology

Inertial navigation has high positioning accuracy, but there are cumulative errors. At the initial moment of power-on, it is necessary to cooperate with other external devices to provide maps and initial poses

Laser scanner-based instant localization and mapping (SLAM) technology can simultaneously construct maps and localize in new environments. When creating a map for the first time, the initial pose can be a fixed value or provided by other devices, but when the map is created After that, the initial pose of the mobile robot in the existing map cannot be determined at the initial moment of power-on

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