A multi-cell filtering method for pose positioning of mobile robot in production workshop

A mobile robot and robot technology, which is applied in the field of multi-cell filtering, can solve the problem of low pose positioning accuracy, and achieve the effects of improving computational efficiency, avoiding the increase of dimension, and reducing the conservativeness of identification.

Active Publication Date: 2021-09-28
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem of low positioning accuracy of the mobile robot in the production workshop, the present invention provides a method for positioning the mobile robot. Minimum volume full symmetric polytope for iteration

Method used

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  • A multi-cell filtering method for pose positioning of mobile robot in production workshop
  • A multi-cell filtering method for pose positioning of mobile robot in production workshop
  • A multi-cell filtering method for pose positioning of mobile robot in production workshop

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Embodiment 1

[0043] This embodiment provides a mobile robot pose positioning method, the method comprising:

[0044] Step1: Discretize the kinematics model of the mobile robot into a discrete continuous model y k = φ k T θ * +e k , where φ k is the observation vector, θ is the pose positioning parameter, e k Indicates the bounded noise of the system;

[0045] Step2: Under the given unknown but bounded noise and external excitation signal, obtain the observation vector φ according to the kinematics model of the mobile robot k and the output sequence y k , and by observing the vector φ k and the output sequence y k Obtain the constraints of the kth step parameter feasible set;

[0046] Step3: According to the constraints of step k and the fully symmetrical polyhedron of step k-1, the fully symmetrical polyhedron with the smallest volume in step k is obtained;

[0047] Step4: Extend the fully symmetrical polyhedron obtained in Step3 to obtain the expanded fully symmetrical polyhedr...

Embodiment 2

[0050] In this embodiment, the application of the mobile robot pose positioning method provided in this application to a crawler mobile robot in a production workshop is introduced as an example:

[0051] Step 1: Go through the typical kinematics model of the crawler mobile robot in the production workshop, and then discretize it into a discrete continuous system y k = φ k T θ * +e k ;

[0052] A typical kinematic model of a crawler mobile robot in a production workshop:

[0053]

[0054] where (x k the y k ) T Indicates the current position of the robot, ψ k Indicates the robot angle, the current position of the robot and the robot angle can be measured by the sensor. ω 1,k , ω 2,k Respectively represent the rotational angular velocity of the left and right driving wheels, r represents the radius of the wheel, b represents the distance between the left and right wheels, ΔT represents the time interval, s 1,k , s 2,k Indicates the slip rate of the robot, (x k...

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Abstract

The invention discloses a multi-cell filtering method for pose positioning of a mobile robot in a production workshop, and belongs to the technical field of manufacturing process control. The method locates the mobile robot by adopting the filter method of the fully symmetrical polytope, so that the geometric area of ​​the fully symmetrical polytope is minimized, thereby effectively reducing the conservatism of identification and increasing the accuracy of robot pose positioning. Furthermore, the dimensionality reduction of the fully symmetrical polytope is performed through singular value decomposition, which simplifies the final calculation amount, avoids the calculation burden brought by the increase in dimension, and greatly improves the calculation efficiency. The pose positioning method provided by this application is applied to the pose positioning of mobile robots in the production workshop, which improves the positioning accuracy and the efficiency of state estimation, thus improving production capacity; the method of this application also provides technical inspiration for the next intelligent manufacturing .

Description

technical field [0001] The invention relates to a multi-cell filtering method for pose positioning of a mobile robot in a production workshop, and belongs to the technical field of manufacturing process control. Background technique [0002] With the progress of society and the development of science and technology, automation technology has gradually replaced labor and is widely used in intelligent manufacturing, agricultural production and national defense industry. Robot technology with high integration of automation technology has also been applied in production and life. In the era of smart factories, the application of robots gradually replaces manual labor, greatly increasing production capacity and reducing production defective rate. [0003] Compared with high-precision robots in the medical field, due to the production process and cost requirements, the self-positioning of mobile robots currently used in production workshops has the problem of low positioning accu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/16B62D55/12B62D55/065
CPCB62D55/0655B62D55/12G06F17/16
Inventor 王子赟张帅王艳纪志成
Owner JIANGNAN UNIV
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