Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

GNSS/ODO-based dual-wheel differential positioning method for robot

A positioning method and robot technology, applied in the field of robotics, can solve problems such as poor variability and maintainability, and are easily affected by the environment, and achieve the effects of improving orientation accuracy, reducing costs, and speeding up mapping efficiency.

Active Publication Date: 2017-09-29
青岛克路德智能科技有限公司
View PDF3 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method has poor variability and maintainability, and is easily affected by the environment

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • GNSS/ODO-based dual-wheel differential positioning method for robot
  • GNSS/ODO-based dual-wheel differential positioning method for robot
  • GNSS/ODO-based dual-wheel differential positioning method for robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] Referring to the accompanying drawings, a GNSS / ODO-based robot dual-wheel differential positioning method includes the following steps:

[0040] A. Initialize the robot, and use GNSS to obtain the pose information of the robot at the initial moment;

[0041] Assuming that the current moment is n, the global pose information of the robot at this moment is given by [x g (n),y g (n), θ g (n)] description, where, [x g (n),y g (n)] represents the plane coordinate position of the robot in the global coordinate system, θ g (n) represents the heading angle of the robot; let L 1 , L 2 respectively represent the mileage change of the left and right wheels of the robot measured by the two-wheel odometer per epoch, then the angle dθ that the robot turns at two adjacent moments g and the plane position in the robot body coordinate system (dx l ,dy l ) ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to the field of the robotic technology, more particularly to a robot positioning method. A GNSS / ODO-based dual-wheel differential positioning method comprises: step A, initializing a robot and obtaining pose information of a robot at an initial time by using a GNSS; step B, calculating global pose information of the robot at an n+1 time by using a dual-wheel speedometer positioning algorithm; step C, determining whether a current time is a set GNSS data correction time; if so, executing a step D; and if not, executing a step E; step D, according to an unmanned vehicle pose state, calculated at the step B, at the n+1 time, carrying out Kalman filter "prediction-correction"; step E, only carrying out Kalman filter prediction in the step D instead of carrying out correction; and step F, outputting filtered robot global pose information. With the method provided by the invention, the positioning and orientation precision of the robot can be improved obviously.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot positioning method. Background technique [0002] Robot positioning mainly refers to the process in which the robot obtains relevant information through external sensors and processes it to determine its own and target pose. Existing technical schemes have odometer method, inertial navigation method, satellite navigation method, magnetic navigation method etc. Among them, the odometry method (ODO) is the most widely used positioning method. A photoelectric encoder is installed on the wheel of the mobile robot, and the pose tracking of the robot is realized by recording the rotation of the wheel. However, this method is positioned as a dead reckoning method, which is an accumulative process, and its measurement error is related to the length of the vehicle's driving distance. With the increase of the moving distance, the positioning accuracy gradually decrease...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01S19/41G01S19/47G01S19/53
CPCG01S19/41G01S19/47G01S19/53
Inventor 李耀宗韩锐王坤
Owner 青岛克路德智能科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com