Laser radar robot simultaneous positioning and mapping optimization method
A technology of laser radar and optimization method, which is applied in the direction of instruments, electromagnetic wave re-radiation, and utilization of re-radiation, can solve the problems of reduced mapping accuracy, particle degradation, and lack of particle diversity, so as to improve accuracy, maintain diversity, To resolve the effect of particle dissipation
Pending Publication Date: 2021-04-23
JIANGSU UNIV OF SCI & TECH
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[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
[0043] The main body of the mobile robot is equipped with a laser radar sensor, a wheel odometer and an inertial unit, which respectively collect information such as laser information, the angle and acceleration of the robot, and use USB3.0 to transmit the collected information to the computer for subsequent processing.
[0044] Step 1: Obtain the robot's obs...
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The invention discloses a laser radar robot simultaneous positioning and mapping optimization method. The method comprises the following steps: acquiring observation information and odometer control information of a robot, and estimating pose information of the robot; obtaining a particle set of the robot in the current state through a proposed distributed sampling method; calculating the weight and the total weight of each particle in the particle set; calculating a degradation degree parameter value of the particle set; when the degradation degree parameter value is greater than or equal to a preset degradation degree threshold, resampling the particle set, deleting particles with low particle weights in the particle set, generating new particles with high weights to establish a new particle set, and enabling the number of particles in the new particle set to be the same as the total number of particles in the particle set before resampling; and updating the map according to the observation information of the particles. The particles with high weights are used for generating new particles instead of simple replication during resampling, and the number of the resampled particles is kept unchanged, so that the diversity of the particles is kept, and the mapping precision is improved.
Description
technical field [0001] The invention relates to the field of robot simultaneous positioning and mapping, in particular to a laser radar simultaneous robot positioning and mapping optimization method. Background technique [0002] With the rapid development of robot technology, intelligent life is just around the corner. In the future, China will become a big country in robot manufacturing and application. At present, robots are not only used in industrial sites, but also widely used in life service scenarios. In most application fields, the mobile robot determines its own position in an unknown environment, so the mobile robot must have the ability to construct and locate the environment map. At the same time, the simultaneous localization and mapping (SLAM) technology is to solve Arose from the problem of simultaneous localization and map building for mobile robots. [0003] At present, the mainstream SLAM technology is divided into lidar SLAM and visual SLAM. Compared ...
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IPC IPC(8): G01S17/42
CPCY02T10/40
Inventor 马国军马洪朋夏健曾庆军
Owner JIANGSU UNIV OF SCI & TECH