A 3D positioning system for a mobile robot
A mobile robot, positioning system technology, applied in the direction of instruments, measuring distance, mapping and navigation, etc., can solve the problem of low accuracy and reliability of information
Active Publication Date: 2021-04-30
JIANGNAN UNIV
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Problems solved by technology
In addition, due to the low accuracy and reliability of information provided by a single sensor, multi-sensor information fusion has become a major trend in the development of mobile robot positioning.
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[0026] In order to make the above objects, features and advantages of the present invention more obvious and comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0027] In the following description, a lot of specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, and those skilled in the art can do it without departing from the meaning of the present invention. By analogy, the present invention is therefore not limited to the specific examples disclosed below.
[0028] Second, "one embodiment" or "an embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. "In one embodiment" appearing in different places in this specification does not all refer to ...
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The invention discloses a 3D positioning system for a mobile robot, comprising a synchronous positioning and mapping unit and a navigation unit, the synchronous positioning and mapping unit and the navigation unit can be switched, and the synchronous positioning and mapping unit is the The 2D pose of the navigation unit, the navigation unit displays the angle and initial pose of the synchronous positioning and mapping unit; the navigation unit includes an algorithm, and the algorithm performs information fusion, and the information includes input from various sensors and The algorithm results of the synchronous positioning and mapping unit are fused, and the algorithm results are fused. First, the state of the mobile robot in space is described by a 15-dimensional vector X: X=[x, y, z, θ r ,θ p ,θ y ,v x ,v y ,v z ,ω r ,ω p ,ω y ,a x ,a y ,a z ] T . When performing information fusion, the present invention can not only flexibly configure sensors, but also flexibly configure adopted algorithms. When performing information fusion, not only can flexibly configure sensors, but also flexibly configure adopted algorithms, and can perform 3D pose estimation, adapting to 3D surroundings.
Description
technical field [0001] The invention relates to the technical field of robot calibration, in particular to a 3D positioning system for a mobile robot. Background technique [0002] Mobile robot technology is currently a research hotspot in the robot industry. With the popularization of the cost of mobile robots, its application will show explosive growth. Due to the different application scenarios and fields, the hardware devices, driving methods and control systems of different mobile robots are quite different, and the algorithm versatility and code reusability are limited. [0003] Positioning is the basic link of navigation, and real-time accurate positioning is the key to improve the navigation performance of mobile robots. At present, there are many types of sensors that can be loaded on mobile robot equipment. The widely used sensors include odometer, inertial navigation module, GPS, laser radar, Kinect, router, etc. The data and usage methods of these sensors are di...
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IPC IPC(8): G01C21/16G01C22/00
CPCG01C21/16G01C22/00
Inventor 平雪良高文研刘潇潇王昕煜蒋毅
Owner JIANGNAN UNIV