Mobile robot fast and accurate localization algorithm based on multiple attitude correction

Abstract

The invention discloses a mobile robot fast and accurate localization algorithm based on multiple attitude correction, and belongs to the technical field of robots and computer graphics. According to the algorithm, the data of the IMU and the odometer are fused by using the UKF combined with the robot motion model, and the fusion result is used as the AMCL motion model sampling data source. Then the second time of attitude correction is performed on the robot by using the known global raster map and lidar measurement as observation. Then laser scanning is converted into NDT distribution by the NDT algorithm, and the attitude corrected by the AMCL algorithm is used as the initial transformation. The current scanning NDT distribution is matched with the global map converted into NDT distribution beforehand, and the transfer matrix is corrected so as to realize the last attitude correction. The method can make the robot realize fast and accurate localization in the complicated terrain and solves the problems of error accumulation of the odometer and the accelerometer, single information source of the sensor used in the positioning algorithm and high time consumption of the point cloud matching algorithm in the complicated terrain.

Description

technical field [0001] The invention belongs to the technical field of robots and computer graphics, in particular to a fast and precise positioning algorithm for a mobile robot based on multiple pose corrections. Background technique [0002] As mankind enters the era of information industry revolution, artificial intelligence technology is developing rapidly, and mobile robot technology is developing and innovating at an unprecedented speed, gradually penetrating various industries. Positioning technology, as the fundamental way for mobile robots to recognize their own position in the environment, has always been a research hotspot in the field of robotics. However, many positioning algorithms only target a single sensor, and some algorithms only use a single algorithm to fuse data from many sensors. These two methods can make the robot achieve a certain positioning accuracy in a special environment, but in a complex environment, the positioning accuracy is often reduced ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of error accumulation existing in the robot positioning process of existing algorithms, low positioning accuracy, and high time-consuming positioning in complex environments, and to provide a fast and accurate positioning algorithm for mobile robots based on multiple pose corrections

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