Real-time robot localization method in sparse environment

Abstract

The invention belongs to the technical field of intelligent robots and discloses a real-time robot localization method in a sparse environment. The method comprises the following steps: 1) calculatingan initial predicted pose value of a robot at a corresponding time point in the next frame by virtue of robot laser data; correcting the initial pose value according to up-to-date odometer data and inertial navigation data; 2) determining all possible candidate poses according to a localization scanning window, calculating coordinates of each laser reflection point at each scanning angle after each frame of laser data is acquired; combining map data to calculate discrete scanning data of each scanning angle; 3) calculating a product of a confidence coefficient and a confidence weight of eachcandidate pose as a confidence score of the current pose, and taking a candidate pose with the highest confidence score as a pose at the corresponding time point of next frame data so as to perform optimal estimation. According to the real-time robot localization method in the sparse environment, disclosed by the invention, the localization related calculated quantity is greatly decreased, and thelocalization efficiency and the localization accuracy are obviously improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a real-time positioning method for a robot in a sparse environment. Background technique [0002] The traditional substation inspection is mainly through manual methods, which has defects such as high labor intensity, scattered inspection quality, and many subjective factors. In recent years, the substation equipment inspection robot has adopted a completely autonomous or remote control method to replace the inspection personnel to inspect the items of the outdoor equipment in the substation, analyze and judge the image, and find problems in the power equipment in time. The popularization and application of substations provides innovative technical detection means, which improves the reliable and stable operation level of the power grid. [0003] In mobile robotics applications, sensor-based localization has long been considered a critical issue. Localiza...

AI Technical Summary

Problems solved by technology

Although this method can enable the robot to achieve accurate positioning in the entire substation environment, in such an environment as the substation, due to the large area of ​​the substation, the large number of particles, and the large amount of calculation, it will inevitably bring requirements for the hardware master control equipment. High, low positioning efficiency, low positioning accuracy, etc.

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