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Orientation-based mobile robot collaborative correction algorithm

A mobile robot and correction algorithm technology, applied in the directions of instruments, measuring devices, surveying and navigation, etc., can solve problems such as insufficient research on mobile node positioning, and achieve the effect of reducing positioning deviation and precise positioning

Pending Publication Date: 2022-01-28
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0004] However, the above researches only consider the positioning of fixed nodes, and the current research on the positioning of mobile nodes is still insufficient.
Related literature (Jason N. Greenberg and Xiaobo Tan. Dynamic Optical Localization of a Mobile Robot Using Kalman Filtering-Based Position Prediction. IEEE / ASME Transactions on Mechatronics, 25(5):2483–2492, October 2020; J.Son andH.Ahn .Formation Coordination for the Propagation of a Group of Mobile Agents via Self-Mobile Localization. IEEE Systems Journal, 9(4):1285–1298, December 2015) only uses two fixed agents to measure the angle of the mobile agents, the The method requires the participation of fixed nodes and cannot be self-implemented by mobile nodes

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Embodiment Construction

[0032] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0033] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be interpreted...

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Abstract

The invention discloses an orientation-based mobile robot collaborative correction algorithm, which comprises the following steps that a positioning body records observation information, and the observation information comprises broadcast information sent by a target body and coordinate information of the positioning body; the positioning body receives the observation information and preprocesses the observation information; and according to the observation value obtained after preprocessing, continuous correction is carried out through iterative calculation, so that accurate positioning of the positioning body is realized; according to the technical scheme, the algorithm does not need to depend on a fixed reference position and continuous communication, is beneficial to practical application, overcomes the defect of insufficient processing of the mobile nodes in literatures, and carries out accurate correction through a fitting algorithm based on a least square method and a noise processing algorithm suitable for dynamic and based on extended Kalman filtering in the preprocessing process, so that the positioning deviation is greatly reduced, and accurate positioning of the positioning body is realized.

Description

technical field [0001] The invention relates to the technical field of mobile robot positioning, and a mobile node positioning method that relies on position information and angle information at the same time, and specifically refers to an orientation-based mobile robot collaborative correction algorithm. Background technique [0002] Positioning tasks widely exist in many fields of military and civilian use, such as AGV navigation, drone driving and robot SLAM. One of the keys to these advanced technologies is how to use limited spatio-temporal information for accurate positioning. The positioning target develops from a static single object to the cooperative positioning of network nodes, and then develops to the positioning of single or multiple mobile nodes. Positioning technology connects the real physical space with the virtual information space, and is a necessary means to develop cyber-physical systems (CPS). [0003] Most of the earlier research on co-location tech...

Claims

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Application Information

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IPC IPC(8): G01C21/34G01C21/36G01C21/16
CPCG01C21/3446G01C21/3629G01C21/165
Inventor 田玉平刘超群
Owner HANGZHOU DIANZI UNIV
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