Mobile Robot Localization Using Stored Characteristic Information
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Solution Overview
Problem
Conventional localization technologies for mobile robots, such as SLAM, often require intentional landmarks which are inconvenient and difficult to implement in home environments, leading to errors in position tracking.
Innovation Solution
A localization device and method for mobile robots that uses a storage unit to store characteristic information of a reference object, a registration unit to match and register reference characteristic information, and a location estimation unit to estimate the robot's location using this information, allowing for accurate localization without additional landmarks, and includes a relocation unit to correct positioning errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If intentional landmarks are placed to assist localization, then localization accuracy is improved, but device complexity and ease of operation deteriorate due to additional implementation requirements
Solution Approach 1:
The system uses the mobile robot's own characteristic information (stored in advance) as the reference for localization, eliminating the need for external landmarks. The robot performs self-localization by comparing current sensor data with stored characteristic information of its own features, achieving accurate positioning without additional external devices or landmarks.
Solution Approach 2:
The stored characteristic information serves multiple functions: it acts as both the reference object information and the localization benchmark. The same characteristic information stored in the robot's memory is used for both identification and position estimation, eliminating the need for separate landmark systems and reducing overall system complexity.
2Measurement precision
If intentional landmarks are placed to assist localization, then localization accuracy is improved, but ease of operation worsens due to inconvenience in home environments
Solution Approach 1:
The system uses the mobile robot's own characteristic information (stored in advance) as the reference for localization, eliminating the need for external landmarks. The robot performs self-localization by comparing current sensor data with stored characteristic information of its own features, achieving accurate positioning without additional external devices or landmarks.
3Device complexity
If conventional localization methods are used without landmarks, then device complexity is reduced, but localization accuracy deteriorates due to sensing errors
Solution Approach 1:
The system performs preliminary action by storing characteristic information of the reference object in advance before the actual localization task. This pre-stored information serves as a reliable reference that compensates for sensing errors during operation, enabling accurate localization without requiring complex real-time landmark systems.
Solution Approach 2:
The system uses feedback by comparing current sensor data with the pre-stored characteristic information to estimate the robot's position. This comparison process provides continuous feedback that corrects for sensing errors and maintains localization accuracy throughout operation.
Data Source
AI summary
A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.