Autonomous positioning method used for robot and implemented on basis of ARMA model

A technology of autonomous positioning and model realization, which is applied in the field of robotics and can solve problems such as complex modeling process

Active Publication Date: 2019-07-30
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

The disadvantage of this method is that from the method level, it needs to assume that the environmental characteristics have strong periodicity, and the modeling process is relatively complicated

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  • Autonomous positioning method used for robot and implemented on basis of ARMA model
  • Autonomous positioning method used for robot and implemented on basis of ARMA model
  • Autonomous positioning method used for robot and implemented on basis of ARMA model

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[0054] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0055] Aiming at the deficiencies of the original technology, this paper innovatively proposes a robot autonomous positioning method based on the ARMA model, which is suitable for the robot autonomous positioning problem in a long-term changing environment.

[0056] The autonomous positioning method of the robot realized based on the ARMA model proposed by the present invention under long-term changing environment mainly includes the following steps:

[0057] Step 1: Modeling, using the sensors carried ...

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Abstract

The invention provides an autonomous positioning method used for a robot and implemented on the basis of an ARMA model. The autonomous positioning method comprises the following steps: performing parameter estimation on data and state of a map in a long-term changing environment by virtue of an autoregressive moving average model (ARMA), and ultimately building a changing map model of the environment and in a probability grid form; performing follow-up prediction on a grid time domain of the built map model, and evaluating prediction confidence, so that a predicted grid map provided with a prediction confidence label is obtained; and finally fusing real-time observation information into the predicted grid map by adopting Bayes rules, so that an updated environment map available for the robot is obtained, and realizing autonomous long-term positioning in the changing environment by the robot by combining a particle filter algorithm under the map. Therefore, the effect that the robot hasrelatively high positioning accuracy and positioning robustness in the long-term changing environment is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an autonomous positioning method of a robot in a long-term changing environment realized based on an ARMA model. Background technique [0002] The positioning problem has always been the core content of the research in the field of autonomous mobile robots, and the performance at the positioning level will also greatly affect the performance of tasks such as robot path planning and autonomous navigation. In a static environment, the classic particle filter algorithm can be used to establish a static probability grid map, and on this basis, laser radar and odometer can be used as sensors for autonomous positioning. However, in many practical scenarios in reality, the environment is often not static, but is affected by human daily actions and changes with certain rules. At this time, because the classic particle filter algorithm is built on a static map, it often fails due to inacc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王景川胡晓伟吴锐凯
Owner SHANGHAI JIAO TONG UNIV
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