Method for rapidly converging particles during startup of indoor robot at any point
An indoor robot, fast convergence technology, used in instruments, measuring devices, mapping and navigation, etc., can solve problems such as slow particle convergence rate
Active Publication Date: 2019-02-12
DALIAN UNIV OF TECH
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[0007] Aiming at the problem of slow particle convergence rate when the robot is started at any point, the present invention proposes a method for locally initializing particles for particle initialization
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[0057] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.
[0058] In this program, a two-dimensional laser (Hokuyo UTM-30LX) with a ranging range of 0.06m-30m is selected as the laser ranging sensor. The two-dimensional plane scanning angle range of the laser is 270°, with an angular resolution of 0.25°, that is, within the range of 270°, a sample point is taken every 0.25°, that is, each frame of laser data has 1080 laser points, and the frequency is 40 hertz.
[0059] A method for fast particle convergence when an indoor robot is started at any point, the steps are as follows:
[0060] Step 1. Build a priori map
[0061] The indoor two-dimensional prior map is constructed using the composition algorithm, and the Cartographer algorithm is selected for the construction of the prior map. The scene selection is a corridor with a high degree of similarity with double closed...
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The invention provides a method for rapidly converging particles during startup of an indoor robot at any point, and belongs to the field of indoor mobile robot positioning. According to the method, aprior map constructed by a Cartographer algorithm is used for carrying out grayscale processing on an image formed by the prior map, then an image gradient algorithm is used for extracting a grayscale image frame, and a contour of the prior map is obtained. When the robot is started, laser data obtained by first sampling is collected, and the laser data is stored in an image form. A laser contourimage is matched with the contour of the prior map by utilizing a linear neighbor knn search algorithm, and areas with the matching degree larger than a set threshold value are set as candidate areas. A local candidate area list is obtained after matching; and when the particles are initialized, the candidate areas are traversed, and the particles are initialized according to a mathematical statistics characteristic in the candidate areas. When the particles are initialized in the candidate areas, a random orientation mode is no longer used, and the orientation of the particles is restrainedaccording to a laser data contour.
Description
technical field [0001] The invention belongs to the technical field of indoor mobile robot positioning, and relates to a method for fast particle convergence when an indoor robot is started at any point. Background technique [0002] Positioning is a necessary condition for indoor robot navigation and the core technology of robot environment interaction. The most commonly used method for indoor robot positioning is the particle filter algorithm. The particle filter algorithm implements recursive Bayesian filtering through a non-parametric Monte Carlo simulation method. The Monte Carlo method initializes particle swarms, simulates particle swarms, Calculate the particle score and particle swarm resampling to calculate the position of the indoor robot, and its position conforms to the Gaussian probability distribution. The particle filter method is suitable for any nonlinear system that can be described by the state space model, such as indoor dynamic environment. [0003] T...
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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 于世宽闫飞庄严于海晨
Owner DALIAN UNIV OF TECH