Indoor positioning method for mobile robot based on multi-sensor fusion

A multi-sensor fusion and mobile robot technology, which is applied to instruments, measuring devices, surveying and navigation, etc., can solve the problems that laser matching cannot infer displacement based on matching results, expensive, data errors, etc.

Inactive Publication Date: 2017-03-22
清研华翊(天津)教育科技有限公司
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Problems solved by technology

However, this often requires the use of expensive and large-range lidar, and in some indoor environments with single characteristics, laser matching cannot infer displacement based on matching results, so using its positioning data to calibrate the odometer will cause data errors. Therefore, the present invention proposes An indoor positioning method for mobile robots based on multi-sensor fusion, which uses odometer position data based on dead reckoning to compensate for the failure to identify similar environments in laser matching positioning. On the basis of improving indoor positioning accuracy, its environmental adaptability is stronger

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  • Indoor positioning method for mobile robot based on multi-sensor fusion
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  • Indoor positioning method for mobile robot based on multi-sensor fusion

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Embodiment Construction

[0051] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0052] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0053]The present invention uses the odometer positioning data based on dead reckoning to compensate the scan matching positioning of the laser radar, and the realization of the method is based on the following theory:

[0054] (1) Encoder-based dead reckoning model

[0055] Assuming that within a sampling period, the feedback from the motor encoder is received, the unit conversion results in the moving distances of the left wheel and the right wheel as ΔS l and ΔS r , the rotated angle is Δθ, then the moving distance and rotation angle of the robot in this adoption cycle can be calculated:

[0056]

[0057] Among them, 2R is the distance between the two wheels of the robot, ΔS is ...

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Abstract

The invention provides an indoor positioning method for a mobile robot based on multi-sensor fusion. The milemeter position data based on track plotting is adopted for compensating for an unrecognized similar environment in laser matching positioning. According to the invention, the sensor positioning data based on an inertia unit and a milemeter is fused, and the laser radar matching positioning is also considered as a reference index, so that the accumulative error of the milemeter is reduced, and the defect that a short-distance laser radar cannot be matched and positioned under a single characteristic environment is overcome, so that more accurate positioning data can be supplied for map drawing and navigation of the robot.

Description

technical field [0001] The invention belongs to the field of indoor positioning of a wheeled mobile robot, in particular to an indoor positioning method for a mobile robot based on multi-sensor fusion. Background technique [0002] When a mobile robot moves in an indoor environment, it must first know where it is. This is an important prerequisite for the robot to map the environment and navigate autonomously, which is the precise position and pose. Therefore, indoor mobile robot positioning technology has always been a research hotspot and difficulty in the field of robotics. [0003] With the advancement of sensing technology, the sensors used for indoor mobile robot positioning are also constantly updated. Generally speaking, the current robot positioning methods are mainly divided into two categories: relative positioning method and absolute positioning method. The relative positioning method means that the robot obtains the relative displacement and steering in a short...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/14
CPCG01C21/206G01C21/14
Inventor 刘召宋立滨于涛陈恳刘莉陈洪安张智祥
Owner 清研华翊(天津)教育科技有限公司
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