Robot Direction Angle Calculation Using Absolute Relative Positioning
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Solution Overview
Problem
Current methods for determining the direction angle of motion targets, such as robots, face challenges in accuracy and precision due to accumulative errors in odometer-based positioning and limitations in curve fitting, leading to suboptimal navigation.
Innovation Solution
A method that combines absolute and relative positioning by creating transformation matrices using absolute and relative position coordinates to accurately calculate direction angles, employing overdetermined equations and least squares methods for precise matrix parameter determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If odometer based positioning is used to estimate position and direction angle, then data precision is good in short time, but accumulative errors are generated after long motion
Solution Approach 1:
The patent uses map-matching feedback to correct accumulative errors. The estimated position from odometer is continuously compared with pre-demarcated map positions, and corrections are applied based on the deviation detected through matching algorithms, thereby maintaining long-term positioning accuracy.
Solution Approach 2:
The patent performs preliminary demarcation of positions and direction angles on the map before actual navigation. This pre-established reference framework enables real-time matching and error correction during robot motion, preventing accumulative errors from degrading positioning precision.
2Ease of manufacture
If straight line fitting is used to calculate direction angle, then calculation is simple, but precision is low since navigation routes are mainly curves
Solution Approach 1:
The patent replaces straight line fitting with curve fitting methods that account for the curved nature of actual navigation routes. By using appropriate curve models (such as polynomial or spline fitting), the system accurately captures directional changes along curved paths while maintaining computational efficiency.
3Measurement precision
If curve fitting is used to calculate direction angle, then fitting of long-term motion curve is attempted, but fitting point of short-term motion curve is diverged
Solution Approach 1:
The patent divides the navigation route into multiple segments and performs curve fitting locally on each segment rather than attempting to fit the entire long-term motion curve at once. This segmentation approach prevents divergence in short-term fitting while maintaining accuracy through piecewise approximation of the overall trajectory.
Solution Approach 2:
The patent uses partial curve fitting by selecting only relevant fitting points within a specific time or distance window, rather than using all available historical data. This partial action approach avoids the instability caused by excessive data points while maintaining sufficient precision for direction angle calculation.
Data Source
AI summary
A motion target direction angle obtaining method and a robot using the same. The method includes: creating an absolute coordinate system, and obtaining an absolute position coordinate of at least one point after the first point in the absolute coordinate system; creating a relative coordinate system with the first point as an origin, and obtaining a relative position coordinate corresponding to the at least one point In the relative coordinate system; calculating matrix parameters of a transformation matrix based on the absolute position coordinate of the at least one point and the relative position coordinate corresponding to the at least one point; and determining a direction angle of the motion target at the first point based on the matrix parameters. Combines an absolute portioning method and a relative positioning method to calculate the direction angle.