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Positioning recovery method based on particle filter and robot equipment

A technology of particle filter and recovery method, which is applied in the field of robotics and navigation, can solve the problems of long time-consuming prior information, large global map, and low efficiency, and achieve the effects of improving robustness, improving efficiency, and reducing time-consuming

Active Publication Date: 2020-02-11
SICHUAN CHANGHONG ELECTRIC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: to provide a particle filter-based positioning recovery method and robot equipment, which are used to solve the problems existing in the current technology due to factors such as large global maps and failure to use prior information in the process of positioning loss. The failure recovery time is too long and the efficiency is low

Method used

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  • Positioning recovery method based on particle filter and robot equipment
  • Positioning recovery method based on particle filter and robot equipment

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Experimental program
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Effect test

Embodiment 1

[0031] figure 2 It shows a flow chart of Embodiment 1 of a particle filter-based positioning recovery method of the present invention, including:

[0032] Step 1. Calculate the positioning quality, and determine whether to start positioning recovery.

[0033] In specific implementation, there are many ways to represent the positioning quality, such as using the average weight of all particles, or the short-term likelihood average and long-term likelihood average of particles, and so on.

[0034] Taking the average weight of particles as an example, the average weight of particles is calculated, and when the average weight is less than the threshold for starting positioning recovery, positioning recovery is started. The smaller the average weight, the farther the particle is from the real position. Therefore, the easiest way is to start the positioning recovery operation when the average weight is less than a certain value (defined as the threshold for starting the positionin...

Embodiment 2

[0046] Embodiment 2 provides a robot device for positioning recovery based on a particle filter, including:

[0047] The positioning recovery judging module is used for calculating the positioning quality and judging whether to start the positioning recovery.

[0048] There are many ways to represent the positioning quality, such as using the average weight of all particles, or the short-term likelihood average and long-term likelihood average of particles, and so on.

[0049]Taking the average weight of particles as an example, the average weight of particles is calculated, and when the average weight is less than the threshold for starting positioning recovery, positioning recovery is started. The smaller the average weight, the farther the particle is from the real position. Therefore, the easiest way is to start the positioning recovery operation when the average weight is less than a certain value (defined as the threshold for starting the positioning recovery). The spec...

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Abstract

The invention, which relates to the field of robots and navigation, discloses a positioning recovery method based on a particle filter and robot equipment, thereby solving problems of overlong failurerecovery time and low efficiency caused by factors such as large global map and no prior information in a positioning loss process in the prior art. According to the method, a positioning recovery judgment module, a positioning recovery area calculation module, and a positioning recovery execution module are arranged. The positioning recovery judgment module is used for calculating the positioning quality and judging whether positioning recovery is started or not. The positioning recovery area calculation module is used for calculating a positioning recovery area according to the positioningquality when positioning recovery is started. The positioning recovery execution module is used for iterative updating of a particle filter, wherein the scattering area of the particles includes the positioning recovery area. The method is suitable for robot navigation.

Description

technical field [0001] The invention relates to the field of robots and navigation, in particular to a particle filter-based positioning recovery 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 (RobotOperating System) is amcl (adap...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06F17/18
CPCG01C21/20G06F17/18
Inventor 邵小宁刘孟红
Owner SICHUAN CHANGHONG ELECTRIC CO LTD
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