Robot positioning method and system based on autonomous positioning and edge exploration
A robot positioning and autonomous positioning technology, which is applied in the direction of instruments, navigation, surveying and navigation, etc., can solve the problems of increased calculation, errors, and particle positioning errors, so as to improve accuracy and speed, broaden application scenarios, and prevent positioning errors. Effect
Active Publication Date: 2019-03-29
SUGAN TECH BEIJING
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Problems solved by technology
The existing robot autonomous positioning technology often arranges sensors in the environment, but this method will increase the cost of equipment installation and maintenance, and it is not easy to operate in complex environments
[0004] Moreover, the existing robot autonomous positioning technology often uses the particle filter algorithm. When this algorithm is sampled globally, it will cause too slow convergence, or directly converge to the local minimum of the error, that is, a completely wrong position. For some maps with relatively high similarity, there is almost no way for particles to correct
In order to solve the problem of particle positioning errors, people will increase the number of particles as much as possible, but increasing the number of particles will increase the amount of calculation, and some embedded hardware cannot achieve real-time processing
At the same time, there will be the same problem for other global positioning algorithms
Method used
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[0042] Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, so they are only examples, and should not be used to limit the protection scope of the present invention.
[0043] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.
[0044] In the first aspect, the embodiment of the present invention provides a robot positioning method based on autonomous positioning and edge exploration, combining figure 1 or Figure 4 , the method includes:
[0045] Information acquisition step S1: Obtain environmental information, time information, and mileage information around the robot. Here, the method can use laser ...
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The invention belongs to the technical field of robot self-positioning and provides a robot positioning method based on self-positioning and edge searching and a system. The method comprises the following steps: acquiring environmental information around a robot, time information and mileage information; estimating the relative position; acquiring the current position of each particle; confirming a practical position of the robot according to a weighted value and the current position of each particle; scoring a boundary point on the basis of an edge searching algorithm; setting the boundary point with the highest score as a target position of the robot according to a scoring result of the boundary point; moving the robot to the target position; checking if the practical position is correct according to the quantity of the particle and outputting a correct practical position. The robot positioning method based on self-positioning and edge searching and the system, provided by the invention, can increase the robot self-positioning precision and speed, can prevent positioning error, can widen the application scene and can be easily popularized.
Description
technical field [0001] The invention relates to the technical field of robot automatic positioning, in particular to a robot positioning method and system based on autonomous positioning and edge exploration. Background technique [0002] Automation control technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical care, service and family, etc. Automation control is an important condition and a remarkable symbol of the modernization of industry, agriculture, national defense and science and technology. [0003] The positioning problem of the robot has always been one of the difficulties in the automatic control technology. Robot autonomous positioning technology refers to the determination of the absolute position of the robot on the map with the help of other sensor data in the case of an existing map. The existing robot autonomous positioning technology often arranges sensors in the environment, but this method w...
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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 谢红兵张一茗贾小龙陈震
Owner SUGAN TECH BEIJING