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Localization method of mobile robot based on field line features

A mobile robot and positioning method technology, applied in the direction of photo interpretation, navigation calculation tools, etc., can solve the problems of time and economy, labor cost waste, excessive environmental transformation, loss of visual system, etc.

Active Publication Date: 2020-10-02
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these methods require a large number of known markers. For the actual environment, setting these markers needs to change the existing environment, resulting in a waste of time, economy, and labor costs. The environment has been modified too much and the visual system has been lost. Advantages for positioning

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  • Localization method of mobile robot based on field line features
  • Localization method of mobile robot based on field line features
  • Localization method of mobile robot based on field line features

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Embodiment Construction

[0064] In order to make the purpose, technical solution and advantages of the present application clearer, the present application 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 application, and are not intended to limit the present application. The present application will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

[0065] refer to Figure 1 to Figure 7 , the mobile robot positioning method based on field line features of the present invention includes steps S1-S10.

[0066] Steps S1-S4 are preparatory work before the vision system of the mobile robot collects the field line information in the working environment, and the details are as follows.

[0067] S1, constructing a global environment map of the working environment required by the m...

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Abstract

The invention provides a mobile robot positioning method based on onsite field line features. The method comprises steps S1-S10. In the mobile robot positioning method provided by the invention, the existing field line features in the working environment are used to ensure the consistency of a global environment map and the real working environment; the calculation of a matching degree is performed based on a manner of discretizing the field line features into sampling points, thereby effectively overcoming the problem of insufficient effective feature information, which may exist; a global probability map is constructed to facilitate the subsequent quantitative calculation of a robot in the positioning process and to shorten the calculation time; an incremental side boundary extraction algorithm is scarcely interfered by the external noise, few parameters are used, and the calculated amount is reduced; sampling is performed based on the Monte Carlo method, so that the filtering accuracy can be approximated to the optimal estimation, and the computational complexity is greatly reduced; the particle filter algorithm has strong modeling ability, can effectively overcome the restriction of Gaussian distribution under nonlinear conditions, can adapt to the requirements of realistic and complex environments, and can improve the self-positioning accuracy of the robot.

Description

technical field [0001] The invention relates to the technical field of mobile robot control, in particular to a positioning method for a mobile robot based on field line features on site. Background technique [0002] With the development of industrial manufacturing in the direction of automation and intelligence, mobile robots such as automated guided vehicles (Automated guided vehicle, abbreviated as AGV) in industrial environments are more and more widely used. In order to realize autonomous cruising in the factory environment, mobile robots such as AGV should have precise self-positioning capabilities and be able to complete various tasks according to their own position and upper-level instructions. Therefore, autonomous positioning is the core function of mobile robots. [0003] At present, there are many ways to self-position mobile robots in the factory environment: (1) Establish a position measurement field within the factory through the Indoor Global Positioning Sys...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C11/04
CPCG01C11/04G01C21/20
Inventor 张继文许君杰陈恳吴丹徐静杨东超
Owner TSINGHUA UNIV
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