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Known occupancy grid map-based continuous laser SLAM composition positioning method

A technology that occupies a grid and a known map is applied in two-dimensional position/channel control, structured data retrieval, geographic information database, etc. Expansion and other issues to achieve the effect of improving positioning speed and efficiency

Active Publication Date: 2019-12-03
SEIZET TECH SHEN ZHEN CO LTD
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Problems solved by technology

However, the current laser SLAM algorithm uses the initial position as the zero point to construct a new blank map. It cannot load the pre-built occupancy grid map file for environment update or expansion, and cannot achieve continuous SLAM based on the known occupancy grid map. Composition positioning

Method used

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  • Known occupancy grid map-based continuous laser SLAM composition positioning method
  • Known occupancy grid map-based continuous laser SLAM composition positioning method
  • Known occupancy grid map-based continuous laser SLAM composition positioning method

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Embodiment Construction

[0026] Attached below Figure 1-2 The present invention is further described.

[0027] The present invention provides a continuous laser SLAM composition positioning method based on known maps, such as figure 1 shown, including the following steps:

[0028] Step S1, load the pre-built occupancy grid map file to the mobile robot, and the occupancy grid map is one of the most commonly used map formats in laser SLAM.

[0029] Step S2, within the scope of the known map (the aforementioned preloaded occupancy grid map, hereinafter referred to as the known map), based on the Monte Carlo particle filter method, realize the global rough positioning of the mobile robot, and output the robot state vector X, the specific steps are as follows figure 2 Shown:

[0030] Particle swarm initialization: initialize the particle swarm within the known map range, and randomly generate the particle state X i (i=1~n, n is the total number of particles), and uniform particle weight

[0031] M...

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Abstract

The invention relates to a known occupancy grid map-based continuous laser SLAM composition positioning method. The known occupancy grid map-based continuous laser SLAM composition positioning methodcomprises the steps of loading a known occupancy grid map file which is built in advance; outputting a mobile robot state vector under a global rough positioning mode by a particle filtering method; performing laser and map matching, calculating minimum reprojection error of a laser scanning point, and solving the mobile robot state vector to achieve fine positioning; and initializing the occupancy grid map according to the known map, and performing continuous laser SLAM composition positioning by taking the mobile robot state vector of the solved fine positioning result as an SLAM initial state. By the known occupancy grid map-based continuous laser SLAM composition positioning method, the map file which is built in advance can be loaded, environmental updating or expansion is achieved, complete reconstruction is not need from beginning, meanwhile, an extra characteristic mark is also not needed set for an environment, and positioning can be achieved by means of natural profile characteristic.

Description

technical field [0001] The invention belongs to the field of positioning and navigation of wheeled mobile robots, and in particular relates to a continuous laser SLAM composition positioning method based on a known occupancy grid map. Background technique [0002] Laser SLAM algorithms represented by HectorSlam, Gmapping, and Cartographer have matured and can realize real-time positioning and map construction in unknown environments. However, the current laser SLAM algorithm uses the initial position as the zero point to construct a new blank map. It cannot load the pre-built occupancy grid map file for environment update or expansion, and cannot achieve continuous SLAM based on the known occupancy grid map. Composition positioning. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a continuous laser SLAM composition positioning method based on the known occupancy grid map for the above-mentioned deficiencies of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06F16/29G06N3/00
CPCG05D1/0231G05D1/0274G06F16/29G06N3/006
Inventor 赵青何苗
Owner SEIZET TECH SHEN ZHEN CO LTD
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