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Square root volume fuzzy adaptive Kalman filtering SLAM method

A fuzzy adaptive, Kalman filtering technology, applied in navigation computing tools and other directions, can solve problems such as poor positioning effect

Inactive Publication Date: 2019-03-26
NANJING UNIV OF TECH
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a square root volume fuzzy adaptive Kalman filter SLAM method for the problem of poor positioning effect in the prior art

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  • Square root volume fuzzy adaptive Kalman filtering SLAM method
  • Square root volume fuzzy adaptive Kalman filtering SLAM method
  • Square root volume fuzzy adaptive Kalman filtering SLAM method

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[0079] In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0080] see figure 1 , is a flow chart of the first embodiment of the square root volume fuzzy adaptive Kalman filter SLAM method of the present invention, in the first embodiment of the square root volume fuzzy adaptive Kalman filter SLAM method, the method includes the following steps:

[0081] Step 101, modeling the mobile robot, establishing a dynamic model and an observation model;

[0082] Step 102, the fuzzy adaptive noise dynamic adjustment algorithm, setting control weights for the motion noise and observation noise in the dynamic model and observation model, and fuzzy adjustment of the noise weights by dynamically adjusting the mean valu...

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Abstract

The invention discloses a square root volume fuzzy adaptive Kalman filtering SLAM (Simultaneous Localization And Mapping) method. The method comprises the steps of: modeling a mobile robot, to establishing a dynamic model and an observation model; by means of a fuzzy adaptive noise dynamic adjustment algorithm, setting control weights for motion noise and observation noise in the dynamic model andthe observation model and fuzzily adjusting the noise weights by dynamically adjusting innovation mean and variance; predicting pose information of the robot at the moment k through the pose information of the robot at the moment k-1; and updating the post information in a calculator after carrying out iteration preset times. The method has the beneficial effects that an iterative method is combined with strong tracking and aiming at the problems of the motion noise and the observation noise of the robot, different noises are adaptively dynamically adjusted by adopting an improved fuzzy adaptive method; and the complexity of the algorithm is reduced, the distortion problem of a sampling point in the nonlinear case is solved, the trajectory deviation phenomenon caused by the increase of feature points is corrected and the pose accuracy is increased.

Description

technical field [0001] The invention relates to the technical field of robot autonomous navigation, in particular to a square root volume fuzzy adaptive Kalman filter SLAM method. Background technique [0002] Simultaneous positioning and map reconstruction refers to the process in which the mobile robot reconstructs the environmental map through the lidar in an unknown environment and expresses the pose state of the robot in the reconstructed map. The application of SLAM algorithm in mobile robots is a research hotspot in this field. The traditional algorithm introduces the extended Kalman filter into the SLAM field, and its essence is to use the Kalman filter to process the linearized model. Although Extended Kalman Filter (EKF) can solve nonlinear system problems, it can't handle the data association in the algorithm very well and the precision is not high. On this basis, many researchers have proposed various improved new algorithms in recent years. Aiming at the prob...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 程明朱忠义杨圣伟
Owner NANJING UNIV OF TECH
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