Method for autonomously localizing robots on basis of laser radar

Abstract

The invention discloses a method for autonomously localizing robots on the basis of laser radar. The method includes randomly generating N particles to form particle swarms around initial locations ofthe robots, and updating the particle swarms according to robot real-time movement distances and real-time rotation angles measured by sensors of the robots at current operation moments of the robots; computing the superposition quantity of point cloud of the laser radar and obstacles of maps for each particle to use the superposition quantity as a score of the particle, computing weighted position and posture average values of the particle swarms by the aid of the score, which is used as a weight, of each particle and utilizing the weighted position and posture average values as AMCL (adaptive Monte Carlo localization) estimation positions and posture; utilizing the AMCL estimation positions and posture as initial values, acquiring scanned and matched positions and posture by the aid ofscanning and matching algorithms on the basis of Gauss-Newton iterative processes and utilizing the scanned and matched positions and posture as the optimal positions and posture of the robots at thecurrent operation moments; re-sampling the particle swarms by the aid of AMCL algorithms to ultimately obtain the global optimal positions and posture of the robots during operation. The global optimal positions and posture of the robots are used as localization results. The method has the advantage that the localization convergence rate can be greatly increased, and the localization precision andthe localization stability can be greatly enhanced.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, and more specifically relates to a laser radar-based autonomous positioning method for a robot. Background technique [0002] With the rapid development of intelligence, mobile robots have been widely used in various industries. In the unattended substation of the power system, the robot automatic inspection system is an important direction for the intelligent development of the substation. In order to realize robot intelligent inspection, reliable and accurate autonomous positioning and navigation technology is the foundation. The existing unattended substation automatic inspection robot system generally needs to install auxiliary positioning devices such as laser reflectors, magnetic nails, radio frequency tags or two-dimensional codes, and requires certain transformation of the substation, which will not only increase the difficulty of construction, And the re...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above defects and improvement needs of the prior art, the present invention provides a laser radar-based robot autonomous positioning method, thereby solving the problems of high construction difficulty, low positioning accuracy, and difficulty in satisfying the automatic patrol inspection of substations in the existing positioning technology. Technical Issues Requirements for High Accuracy Positioning

Images