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

VCKF-based multi-robot collaborative navigating and positioning method

A technology of collaborative navigation and positioning method, applied in navigation calculation tools, complex mathematical operations, etc., can solve problems such as uncertainty and nonlinearity, and achieve the effect of improving positioning accuracy, accuracy and adaptability

Active Publication Date: 2018-03-27
HARBIN ENG UNIV
View PDF3 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention uses VCE to improve CKF, and proposes an improved collaborative navigation and positioning method, which can simultaneously solve the nonlinear and uncertain problems in the actual multi-mobile robot system, thereby improving the accuracy of multi-mobile robot cooperative navigation and positioning

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
  • VCKF-based multi-robot collaborative navigating and positioning method
  • VCKF-based multi-robot collaborative navigating and positioning method
  • VCKF-based multi-robot collaborative navigating and positioning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with specific implementation examples.

[0022] The present invention is a multi-mobile robot collaborative navigation positioning algorithm based on CKF and VCE methods, combining figure 1 Shown algorithm flow chart, its specific implementation mode is:

[0023] Step 1: First, according to the work tasks of the multi-mobile robot, build a reasonable working environment, determine the fixed landmark points in the surrounding environment of the multi-mobile robot, and measure the position of each fixed landmark point in the working environment and the initial position of each mobile robot and posture information;

[0024] Step 2: Construct the state vector including multi-robot positions and poses:

[0025] X=[X 1 x 2 … X n ] T

[0026] where X i =[x i ,y i ,θ i ] T Represents the pose of the i-th robot, according to the robot kinematics equation can be expressed as:

[0027]

[0028...

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 discloses a VCKF-based multi-robot collaborative navigating and positioning method. The VCKF-based multi-robot collaborative navigating and positioning method comprises the following steps: determining an initial value of a collaborative navigating system according to a working environment of a plurality of moving robots; establishing non-linear system equations of the collaborativenavigating system of the plurality of moving robots; performing time updating on the collaborative navigating system of the plurality of moving robots according to a CKF filtering frame; observing a fixed waypoint and other robots in the working environment by the plurality of moving robots in real time, and acquiring relative distance and azimuth angles to serve as observation information; completing measurement updating of the collaborative navigating system of the plurality of moving robots by utilizing a VCKF algorithm by utilizing the observed measurement information and system equations;updating position information of the plurality of moving robots; completing high-precision collaborative navigating and positioning of the plurality of moving robots. According to the VCKF-based multi-robot collaborative navigating and positioning method, VCE (Variance Component Estimation)-based non-linear filter CKF is utilized, and variance matrix of process noises and measurement noises of asystem can be estimated in real time, so that a non-linear problem can be effectively solved, and the positioning precision and adaptability of the system are improved.

Description

technical field [0001] The invention relates to the field of robot navigation and positioning, in particular to a VCKF-based multi-robot cooperative navigation and positioning method. Background technique [0002] Because multi-mobile robots have many advantages that single robots do not have, such as more complex tasks and higher work efficiency, multi-mobile robots have gradually become a research hotspot in the field of robotics. However, robot cooperative navigation is the premise and guarantee for its safe and efficient completion of tasks, so a high-precision multi-mobile robot cooperative navigation algorithm is needed. [0003] Due to the nonlinear characteristics of the actual system, it is necessary to use nonlinear filters in the cooperative navigation of multiple mobile robots. CKF applies nonlinear transformation to 2n points with the same weight, so as to calculate the approximate Gaussian distribution of the system and complete the filtering process. Compare...

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): G01C21/20G06F17/12G06F17/16
CPCG01C21/20G06F17/12G06F17/16
Inventor 孙骞刁鸣李一兵王秋滢
Owner HARBIN ENG UNIV
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