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IMU-based wheeled robot positioning method

A technology of a wheeled robot and a positioning method, applied in the directions of instruments, measuring devices, surveying and navigation, etc., can solve the problems of unusable, inaccurate, and inability to identify distant objects of odometers and laser scanners, and achieve low manufacturing costs. , the calculation is not large, the effect is easy to achieve

Inactive Publication Date: 2018-07-06
BEIJING ROBOTLEO INTELLIGENT TECH
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AI Technical Summary

Problems solved by technology

However, in some narrow viewing angle and short-distance laser scanner applications, long-distance objects cannot be recognized, and the results of scanning and matching in close-range scenes are also inaccurate when "kidnapped", and neither the odometer nor the laser scanner can be used at this time

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  • IMU-based wheeled robot positioning method

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Embodiment 1

[0016] Embodiment 1: as attached figure 1 As shown, an IMU-based wheeled robot positioning method includes the following steps:

[0017] Step 1: Fusion odometry, 2D laser scanner, IMU data using normal SLAM algorithm;

[0018] Step 2: Create a sliding window containing 30 attitude values ​​att, and store 30 (0.3s) IMU data and sliding windows of kinematic parameters for backtracking;

[0019] Step 3: Singular value decomposition is performed on the attitude values ​​in the sliding window in step 2 to obtain the feature threshold w in descending order i {i=1,2,3};

[0020] Step 4: Obtain the feature threshold w when "kidnapped" according to the test 2 TH 、w 3 TH , to judge whether the robot is "kidnapped": if w 2 >w 2 TH ,w 3 >w 3 TH , then it is determined that "kidnapping" occurs, and then proceed to step 5; if no "kidnapping" occurs, directly return to continue to execute the normal SLAM algorithm in step 1;

[0021] Step 5: A delay t will occur due to the judgm...

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Abstract

The invention provides an IMU-based wheeled robot positioning method, and belongs to the field of robot positioning. The method is characterized in that a sliding window including N attitude valuesatt is established in a normal SLAM algorithm, N IMU data and kinematic parameters are stored, the sliding window is used for backtracking, and the method for pure inertial navigation by using IMU isused to solve the robot "kidnapping" problem, that is a position and attitude updating algorithm is switched to the pure inertial navigation algorithm of the IMU even when collision or sliding occurs.The method solves a problem that some narrow-angle and short-range ranging modules cannot recognize long-distance objects, a scanning matching result of a short-distance scene during kidnapping is inaccurate and an odometer and a laser ranging module cannot be used, and the method has the advantages of low algorithm calculated amount, easiness in implementation, low manufacturing cost, and suitableness for low-cost robots to use.

Description

technical field [0001] The invention belongs to the field of robot positioning, in particular to an IMU-based wheeled robot positioning method. Background technique [0002] The sensors used for the positioning of wheeled robots include odometers, IMUs, laser scanner modules, etc. During the driving process of the robot, collisions, slippage, human interference and other factors may cause the odometer to fail to reflect the real trajectory of the robot, which is called "kidnapping" by the robot. "Problem, pure odometer cannot solve the robot "kidnapping" problem. Existing technologies can use wide-angle, long-distance laser scanners to perform scan matching in the SLAM algorithm to obtain accurate poses based on long-distance objects when "kidnapping" occurs, avoiding the problem of inaccurate odometers. However, in some narrow viewing angle and short-distance laser scanner applications, long-distance objects cannot be recognized, and the results of scanning and matching in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 刘兴华胡兵兵郭煜玺
Owner BEIJING ROBOTLEO INTELLIGENT TECH
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