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Continuous laser slam composition positioning method based on known occupancy grid map

A known map and occupying grid technology, applied in the field of continuous laser SLAM composition positioning, can solve the problems of inability to achieve composition positioning, loading and occupying grid map file environment update or expansion, etc., to achieve the effect of improving positioning speed and efficiency

Active Publication Date: 2022-06-28
SEIZET TECH SHEN ZHEN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Continuous laser slam composition positioning method based on known occupancy grid map
  • Continuous laser slam composition positioning method based on known occupancy grid map
  • Continuous laser slam composition positioning method based on known occupancy grid map

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Embodiment Construction

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

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

[0028] In step S1, the pre-built occupancy grid map file is loaded into 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 range of the known map (the aforementioned pre-loaded occupied grid map, hereinafter referred to as the known map), based on the Monte Carlo particle filtering method, realize the global rough positioning of the mobile robot, and output the robot state vector X, and the specific steps are as follows: figure 2 shown:

[0030] Particle swarm initialization: Initialize the particle swarm within a known map range, and randomly generate particle state X i (i=1~n, n is the total number of particles), and normalize the parti...

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Abstract

The invention relates to a continuous laser SLAM composition positioning method based on a known occupancy grid map, loading a pre-built known occupancy grid map file; based on a particle filter method, outputting a state vector of a mobile robot in a global coarse positioning mode; performing laser and Map matching, calculate the minimum reprojection error of the laser scanning point, solve the state vector of the mobile robot, and realize fine positioning; initialize the occupied grid map according to the known map, and use the state vector of the obtained fine positioning result as the initial state of SLAM to carry out Continuous laser SLAM composition positioning. It can load pre-built map files to realize the update or expansion of the environment. It does not need to rebuild from scratch, and it does not need to arrange additional feature marks on the environment. It can rely on natural contour features to achieve positioning.

Description

technical field [0001] The invention belongs to the field of positioning and navigation of a wheeled mobile robot, in particular 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 algorithms all use the initial position as zero to construct a new blank map, cannot load pre-built occupancy grid map files for environmental update or expansion, and cannot achieve continuous SLAM based on known occupancy grid maps. Composition positioning. SUMMARY 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, which can load the pre-built map file, realize the updating or ex...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G06F16/29G06N3/00G01C21/00
CPCG05D1/0231G05D1/0274G06F16/29G06N3/006
Inventor 赵青何苗
Owner SEIZET TECH SHEN ZHEN CO LTD