Unlock instant, AI-driven research and patent intelligence for your innovation.

Fast initial localization method and robot equipment based on particle filter

A particle filter and initial positioning technology, which is applied in the field of robotics and navigation, can solve the problems of initial position limitation, inaccurate initial position, and inconvenience of specifying the initial position, and achieve the effect of accurate initial position estimation

Active Publication Date: 2022-04-12
SICHUAN CHANGHONG ELECTRIC CO LTD
View PDF13 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention proposes a fast initial positioning method based on a particle filter and a robot device, which are used to solve the problems existing in the current technology, such as inconvenient user-specified initial positions, limited initial positions, inaccurate particle filter initialization parameters, and initial positioning requiring robot movement The problem of inaccurate initial position caused by factors such as

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Fast initial localization method and robot equipment based on particle filter
  • Fast initial localization method and robot equipment based on particle filter

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] figure 1 A flow chart of Embodiment 1 of a fast initial positioning method based on a particle filter in the present invention is shown, including:

[0041] Step 1. Create a grid map.

[0042] Methods for building grid maps include: based on laser or vision sensors, robots move autonomously or users control robots to build maps in the working environment.

[0043] Step 2. Create grid map partitions.

[0044] The method of establishing grid map partitions includes: the program automatically establishes uniform partitions, such as square areas, supports the user to specify the side length of the square area, and the program calculates the distribution mean and variance of each partition.

[0045] The method for establishing grid map partitions also includes: the user defines partitions based on the grid map, such as partitioning according to important landmarks in the grid map, and the program calculates the distribution mean and variance of each partition.

[0046] St...

Embodiment 2

[0056] figure 2 A schematic structural diagram of a robot device for fast initial positioning based on a particle filter of the present invention, including:

[0057]A grid map building module, used to create a grid map;

[0058] A grid map partition module, used to create a grid map partition;

[0059] The initial location area specification module is used to specify the initial location area for the robot, which can be one or more grid map partitions;

[0060] The particle filter initialization module is used for the robot to initialize the particle filter parameters according to the initial position area;

[0061] The particle filter execution module is used for the iterative update of the particle filter, including the sampling particle generation process and the importance sampling process; when the iteration termination condition is reached, the iterative update is stopped and the initial position information of the robot is output.

[0062] For specific details of e...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a fast initial positioning method based on a particle filter, comprising the following steps: establishing a grid map; establishing a grid map partition; specifying an initial position area for a robot, which can be one or more grid map partitions; The particle filter parameters are initialized in the position area; the particle filter is iteratively updated, including the sampling particle generation process and the importance sampling process; when the iteration termination condition is reached, the iterative update is stopped and the initial position information of the robot is output. The positioning method of the present invention enables the robot to specify the initial position conveniently and quickly by the user at any position without moving, and obtain relatively accurate particle filter initialization parameters. sampling to obtain a more accurate initial position estimate.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王文生刘孟红
Owner SICHUAN CHANGHONG ELECTRIC CO LTD