Ground robot cluster cooperative positioning technology

Abstract

The invention relates to the technical field of robot positioning, and particularly discloses a ground robot cluster cooperative positioning technology, which comprises a leader robot and a plurality of following robots, wireless data transmission is performed between the leader robot and the following robots or between the following robots, the leader robot is configured with a laser radar, the following robots are configured with laser radars, and the cluster cooperative positioning method comprises the steps that all the robots carry out initial formation with a leading robot at the most front, the positions of all the robots are established, and road signs of all the following robots are established; during traveling, the leader robot performs scaning to realize self positioning, senses and observes the position of each following robot, and describes the position by adopting confidence coefficient; and each following robot observes the road sign, realizes self positioning through positioning sensing fusion, and adjusts the self position according to the confidence coefficient. According to the technical method, information fusion is higher, positioning is higher, and formation control is more accurate and stable.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to the technical field of positioning of ground robot clusters. Background technique [0002] With the rapid development of science and technology, ground robots have been widely used in many fields such as industry and military. However, the amount of tasks that a single robot can handle is small, the work efficiency is low, and the amount of tasks is very limited, which cannot meet the tasks in the actual industry or military fields. Processing requirements, while multiple single robots are limited by the lack of coordinated movement and cannot undertake more complex tasks. Therefore, robot cluster collaboration is the future development trend. [0003] At present, there are some technical disclosures in the field of robot cluster collaborative positioning technology, and the technical methods are different. Various methods are in the aspects of information fusion betwee...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of science and technology, ground robots have been widely used in many fields such as industry and military. However, the amount of tasks that a single robot can handle is small, the work efficiency is low, and the amount of tasks is very limited, which cannot meet the tasks in the actual industry or military fields. However, due to the lack of coordinated movement between multiple single robots, they cannot undertake more complex tasks. Therefore, robot cluster cooperation is the future development trend

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