Line feature data association method of robot based on improved ant colony optimization

A technology of data association and line features, applied in the field of data association, to achieve the effect of improving the accuracy of association

Pending Publication Date: 2019-08-13
HARBIN ENG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of data association of mobile robots in a large indoor environment, and propose a data association method for environmental line characteristics based on ant colony optimization

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  • Line feature data association method of robot based on improved ant colony optimization
  • Line feature data association method of robot based on improved ant colony optimization
  • Line feature data association method of robot based on improved ant colony optimization

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] A method for associating line feature data based on an ant colony optimization algorithm, comprising the following steps:

[0055] Step 1: Construct the global coordinate system and local coordinate system, and set the sensor working mode;

[0056] The coordinate origin of the global coordinate system is defined as the initial motion position of the robot, and the initial heading of the robot is the X-axis direction.

[0057] The local coordinate system includes the laser sensor coordinate system and the local coordinate system of the mobile robot. The coordinate origin of the laser sensor coordinate system is located in the X-axis direction of the robot coordinate system, and the distance between the coordinate origins of the two coordinate systems is set according to the simplified model of the robot. for a c .

[0058] The working mode of the laser sensor ...

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Abstract

The invention belongs to the field of data association, and particularly relates to a line feature data association method of a robot based on improved ant colony optimization. The method comprises the following steps: constructing a global coordinate system and a local coordinate system, and setting a sensor working mode; establishing a line feature observation model; extracting environmental line features using an improved segmentation-aggregation method; designing a line feature data association method combining an improved ICNN method and an improved ant colony optimization method; and inputting the environmental line feature information and the mobile robot pose information obtained by the sensor into a line feature data association method based on improved ant colony optimization, carrying out data association to obtain an association pair set, and updating the map feature set. Firstly, environment line characteristics are extracted based on laser sensor data, then an improved ICNN algorithm and an improved ant colony optimization algorithm are combined, the correlation accuracy of a data correlation algorithm is improved, and an accurate environment map is obtained.

Description

technical field [0001] The invention belongs to the field of data association, and in particular relates to a method for associating line feature data of a robot based on improved ant colony optimization. Background technique [0002] Data association is one of the key technologies in the SLAM problem of simultaneous localization and map construction technology. The correct rate of association is very important for the positioning and composition results of the robot. The data association problem in SLAM can be understood as the search and matching problem of the observation features newly obtained by the sensor in the map feature set at a certain moment, and the purpose is to obtain a possible set of associated feature pairs. At present, more and more scholars are combining intelligent algorithms with data association problems. In the literature "Genetic Algorithms with Filtering to Solve Data Association Problems", genetic algorithms with filtering are used to solve data a...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/34G06N3/00
CPCG06N3/006G06V20/10G06V10/267Y02T10/40
Inventor 王宏健张明伟李庆周佳加李本银胡文月
Owner HARBIN ENG UNIV
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