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Single GPS robot navigation method based on perturbation action

A navigation method and robot technology, applied in the field of single GPS robot navigation based on perturbation action, can solve the problems of error accumulation, complex device structure and high price

Inactive Publication Date: 2018-07-13
HONGHE POWER SUPPLY BUREAU OF YUNNAN POWER GRID
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to provide a single GPS robot navigation method based on perturbation action, aiming to solve the problems of the existing inertial gyroscope method for measuring the heading angle of the carrier, such as complex structure, high price, and error accumulation.

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0027] A single-GPS robot navigation method based on perturbation actions, such as figure 1 As shown, the method includes the following steps:

[0028] S1. Limit the perturbation distance through the perturbation command and the odometer;

[0029] S2. Calculate the perturbation distance according to the position information collected by the GPS sensor;

[0030] S3, verifying the absolute position calculated by the GPS measurement data and the position increment measured by the odometer;

[0031] S4. After the verification is correct, calculate the initial direction according to the initial absol...

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Abstract

The invention discloses a single GPS robot navigation method based on perturbation action. The single GPS robot navigation method comprises: limiting a perturbation distance by matching with an odometer through a perturbation command; according to the position information collected by a GPS sensor, calculating the perturbation distance; checking according to the absolute position calculated through the GPS measurement data and the position increment measured by the odometer; after achieving a correct checking result, calculating the initial direction according to the initial absolute positionand the terminating absolute position of a robot, and retracting to an initial attitude; and checking again whether the retracted initial pose is correct, and completing the perturbation if the retracted initial pose is correct. With the single GPS robot navigation method of the present invention, the initial attitude measurement problem of the small robot can be effectively solved, and the cost can be reduced.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, in particular to a perturbation-based single GPS robot navigation method. Background technique [0002] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. It concentrates the multidisciplinary research results of sensor technology, mechanical engineering, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. [0003] With the continuous improvement of the performance of mobile robots, they are not only widely used in industry, agriculture, national defense, medical treatment, service and other industries, but also in harmful and dangerous situations such as demining, search and rescue, etc. Therefore, mobile...

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Application Information

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IPC IPC(8): G01C21/20G01S19/42
CPCG01C21/20G01S19/42
Inventor 颜家亮尹平安孙云勇杨金波
Owner HONGHE POWER SUPPLY BUREAU OF YUNNAN POWER GRID