Fast initial localization method based on particle filter and robot equipment

A particle filter and initial positioning technology, applied in the field of robotics and navigation, can solve the problems of initialization position limitation, inaccurate initial position, inaccurate initialization parameters of particle filter, etc., and achieve the effect of accurate initial position estimation
CN110207707AActive Publication Date: 2019-09-06SICHUAN CHANGHONG ELECTRIC CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
SICHUAN CHANGHONG ELECTRIC CO LTD
Publication Date
2019-09-06

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Abstract

The present invention discloses a fast initial localization method based on a particle filter, which comprises the following steps: a grid map is established; zones of the grid map are established; aninitial position area of a robot is specified, which can be one or more grid map zones; the robot initializes the parameters of the particle filter according to the initial position area; the particle filter is iterated and updated in the aspects of the generation process of sampling particles and the importance sampling process; when the iteration termination condition is satisfied, the iterative updating is terminated and the initial position information of the robot is output. The positioning method of the invention enables a user to conveniently and quickly specify the initial position and obtain the relatively accurate initialization parameters of the particle filter in the case of arbitrary position and no motion of the robot. Through sampling and resampling of the particle filter in a static state, the more accurate initial position estimation is obtained.
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Description

technical field

[0001] The invention relates to the technical field of robots and navigation, in particular to a particle filter-based rapid initial positioning method and robot equipment. Background technique

[0002] With the rapid development of robot-related technologies, people's demand for robots is getting higher and higher, especially the autonomous navigation function of robots. The automatic navigation system must first load the grid map generated by the mapping system, and realize the robot's self-positioning and navigation on the map. Therefore, whether the robot starts to start the automatic navigation system or restarts after the automatic navigation system fails, the robot needs to quickly locate its initial position so that the automatic navigation system can take effect quickly.

[0003] Laser-based robot self-localization algorithms usually use particle filter algorithms, and the corresponding module in the robot operating system ROS (Robot Operating Syste...

Claims

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