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Mobile robot autonomous navigation method based on combined navigation and feature point matching

A mobile robot and feature point matching technology, which is applied in navigation, surveying and navigation, navigation through speed/acceleration measurement, etc., can solve the problems of inertial navigation error increase, improve positioning accuracy, improve safety and reliability performance, and the effect of improving the scope of use

Active Publication Date: 2018-09-11
HENAN INST OF SCI & TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, in the case where GPS cannot be positioned accurately for a long time, the error of inertial navigation will increase with time.

Method used

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  • Mobile robot autonomous navigation method based on combined navigation and feature point matching
  • Mobile robot autonomous navigation method based on combined navigation and feature point matching
  • Mobile robot autonomous navigation method based on combined navigation and feature point matching

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Embodiment Construction

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0066] A mobile robot autonomous navigation method based on combined navigation and feature point matching, such as figure 1 As shown, the steps are as follows:

[0067] S1, establishing a spatial map database;

[0068] S2, planning path;

[0069] Obtain the required map from the spatial map database, determine the specific position of the known feature points in the map, and determine the starting point and end point, and use the Dstar algorithm for path pl...

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Abstract

The invention discloses a mobile robot autonomous navigation method based on combined navigation and feature point matching, and the steps are as follows: S1, establishing a spatial map database; S2,planning a path; S3, obtaining position information of a mobile robot; S4, performing Kalman filtering iteration; and S5, correcting the inertial navigation of the mobile robot. Autonomous navigationbased on combined navigation and feature point matching is to use laser radar to scan and model the surrounding environment, extract the surrounding feature points, determine the location of the distance feature points, and then calculate the current position of the robot in the map according to the location of the feature points in the known map, so as to determine the position coordinates to compensate for the blocking out of the GPS signal of the patrol robot.

Description

technical field [0001] The invention belongs to the field of robot self-positioning and navigation, in particular to a mobile robot autonomous navigation method based on combined navigation and feature point matching. Background technique [0002] The campus intelligent security inspection robot is a robot that conducts security inspections for the specific environment of the campus. Because the general campus situation is more complicated, there are trees and tall buildings, etc., and today's inspection robots use GPS for navigation more often, but During the navigation process, robots relying on GPS for navigation are prone to GPS signals being blocked, inaccurate positioning, and star loss, so that the robot cannot determine its own position and cannot complete the navigation task. [0003] Therefore, it is necessary to study a method that can still locate the child's own position in the case of inaccurate and lost GPS signals. At present, the usual solution is the integ...

Claims

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Application Information

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IPC IPC(8): G01S19/45G01S19/47G01C21/16
CPCG01C21/165G01S19/45G01S19/47
Inventor 蔡磊秦晓晨周广福徐涛张树静刘艳昌白林锋
Owner HENAN INST OF SCI & TECH
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