Positioning method based on visual topological nodes and inertial navigation

A technology of inertial navigation and visual positioning, applied in navigation, surveying and mapping, road network navigator, etc., can solve the problems of inability to avoid obstacles, large amount of calculation, etc., achieve the requirement of reducing the performance of software and hardware, and reduce the bandwidth occupied by transmission , the effect of small map size

Active Publication Date: 2020-06-02
XI AN JIAOTONG UNIV
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Problems solved by technology

[0008] Aiming at the problems in the prior art that the amount of calculation is too large and obstacle avoidance cannot b

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  • Positioning method based on visual topological nodes and inertial navigation

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Embodiment Construction

[0034] The following will refer to the attached figure 1 Specific examples of the present invention are described in more detail. Although specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0035] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that they may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" or "comprises" mentioned throughout the specifica...

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Abstract

The invention discloses a positioning method based on visual topological nodes and inertial navigation. The positioning method comprises the steps of: reading a map to obtain information of each topological node, and acquiring a global topological path driving to a final target point based on topological path planning; carrying out local path planning based on the environment in which a robot is located under global path planning in the process of driving from the topological node Nn to the topological node Nm in the global topological path, wherein the current position of the robot is Pt; receiving and executing control information by the robot, conducting state judgment after execution is finished, comparing current robot positioning information with the current target topological node Nm, and continuing to carry out local path planning and control when judging that the current robot positioning information does not reach the target topological node; and calling visual positioning ifthe robot is judged to arrive at the topological node at present according to the current positioning information, forcibly updating robot position by utilizing a visual positioning result, and correcting drifting generated in the running process from the topological node Nn to the topological node Nm.

Description

technical field [0001] The invention belongs to the technical field of mobile robot positioning and navigation, in particular to a positioning method based on visual topological nodes and inertial navigation. Background technique [0002] Mobile robot autonomous navigation and positioning refers to the use of various sensors loaded by the mobile robot to perceive the environment, estimate the robot's own pose, and the robot plans the path according to its own pose, the set destination and the surrounding environment information, and during the driving process Adjust and optimize the path in real time, avoid obstacles, reach the destination, and complete tasks. The positioning and navigation technology of mobile robots is used to solve the problem of robot walking and is the basis of mobile intelligent body applications. [0003] At present, the positioning and navigation technology of mobile robots is divided into two types: marked and unmarked. Among them, the marked navig...

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Application Information

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IPC IPC(8): G01C21/16G01C21/30G06N3/08
CPCG01C21/165G01C21/30G06N3/08
Inventor 任鹏举熊帆丁焱李创李凌阁曹琳阁郑南宁
Owner XI AN JIAOTONG UNIV
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