CN110174894A - Robot and its method for relocating - Google Patents
Robot and its method for relocating Download PDFInfo
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- CN110174894A CN110174894A CN201910446793.2A CN201910446793A CN110174894A CN 110174894 A CN110174894 A CN 110174894A CN 201910446793 A CN201910446793 A CN 201910446793A CN 110174894 A CN110174894 A CN 110174894A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses a kind of robot and its method for relocating, method includes: pose increment of the endpoint of the laser radar scanning frame of acquisition robot under radar fix system relative to origin；Each pose in known grating map is traversed, the corresponding update grid probability of endpoint of laser radar scanning frame under current pose is obtained；Correlation function will be made to respond the reorientation result that the corresponding pose of maximum update grid probability is determined as robot.The solution of robot " kidnapping " problem is realized the present invention is based on the reorientation of related scans matching realization, algorithm is not depended on initial value, obtains global optimum by the search of overall importance set out based on geometry, algorithm is simple and effective.It can continue the work such as SLAM after relocating to robot, avoid the mission failure of robot.
Description
Technical field
The present invention relates to robot localization field more particularly to the method for relocating of robot and the robot.
Background technique
With the development of robot technology, robot is become more and more popular.Robot is possible to send out in use
The case where raw " kidnapping ", for example, robot taken in one's arms, foot is kicked or is skidded.Above-mentioned " kidnapping " situation is likely to cause robot
Positioning failure itself, just needs to relocate robot at this time.Reorientation is that intelligent robot navigation and environment are explored
One important basis and mobile robot realize really entirely autonomous one of key technology.
In the prior art, the reorientation of robot is carried out using nonlinear optimization scan matching.Nonlinear optimization scanning
With based on present frame radar data occupy grid probability and map to occupy grid probability mismatch degree minimum, by non-linear excellent
Change iterative solution pose and builds figure.
However, nonlinear optimization needs an estimation initial value, local optimum is then searched out near initial value, if estimated
Meter initial value then will lead to algorithmic statement not near global optimum to error value, it is seen that nonlinear optimization scan matching is to estimation
Initial value is sensitive, unsuitable searching global optimum's problem.
Summary of the invention
The technical problem to be solved by the present invention is carrying out robot using nonlinear optimization scan matching in the prior art
Reorientation, and nonlinear optimization scan matching is sensitive, unsuitable searching global optimum's problem to estimation initial value.
In order to solve the above technical problems, the present invention provides a kind of robot and its method for relocating.
According to an aspect of the invention, there is provided a kind of method for relocating of robot comprising:
Obtaining step obtains the first grid that the endpoint of the laser radar scanning frame of robot occupies under radar fix system
The pose increment of lattice probability and the endpoint relative to the origin of the laser radar scanning frame of robot；
Traversal step traverses each pose in known grating map, and for each pose point under world coordinate system
It Zhi Hang following steps:
The laser radar scanning frame of the robot is transformed under world coordinate system from radar fix system, and is made current
Pose is the origin pose of the laser radar scanning frame after transformation, and the endpoint for converting the front and back laser radar scanning frame is opposite
It is remained unchanged in the pose increment of origin；
Obtain the second grid probability that the endpoint of the laser radar scanning frame after converting occupies；
According to the first grid probability and the second grid probability, the end of the laser radar scanning frame under current pose is obtained
The corresponding update grid probability of point；
Reorientation result determines step, and correlation function will be made to respond the corresponding pose of maximum update grid probability and be determined as
The reorientation result of robot.
In a preferred embodiment, the endpoint for obtaining the laser radar scanning frame of robot increases relative to the pose of origin
Amount, comprising:
Laser radar scanning frame is acquired using the laser radar of robot；
Determine the number of endpoint that the laser radar scanning frame includes；
In the case where determining the number of endpoint of the laser radar scanning frame is 1, the end of laser radar scanning frame is determined
Pose increment of the point relative to origin.
In a preferred embodiment, it according to the first grid probability and the second grid probability, obtains under current pose
The corresponding update grid probability of the endpoint of the laser radar scanning frame, comprising:
Corresponding first ratio of the first grid probability that the endpoint of the laser radar scanning frame occupies before calculating converts is general
The corresponding second ratio probability of the second grid probability that the endpoint of the laser radar scanning frame occupies after rate and transformation；
According to the first ratio probability and the second ratio probability, obtain updating ratio probability；
The update grid probability is obtained according to the update ratio probability.
In a preferred embodiment, the reorientation result determines that step includes:
The corresponding update grid probability of the endpoint of the laser radar scanning frame under obtained each pose is substituted into respectively
Correlation function obtains the corresponding correlation function response of each pose；
The response of maximal correlation function is determined from the corresponding correlation function response of pose of all traversals；
The maximal correlation function is responded into corresponding pose as the reorientation result.
In a preferred embodiment, the endpoint for obtaining the laser radar scanning frame of robot increases relative to the pose of origin
Amount, further includes:
In the case where determining that the number of endpoint of the laser radar scanning frame is greater than 1, for the laser radar scanning frame
Each of endpoint, obtain pose increment of the endpoint relative to origin.
In a preferred embodiment, the traversal step includes:
Under world coordinate system, each pose in known grating map is traversed, is executed respectively for each pose following
Step:
Laser radar scanning frame is transformed under world coordinate system from radar fix system, and current pose is made to be after converting
The origin pose of the laser radar scanning frame, and convert pose of the endpoint of the front and back laser radar scanning frame relative to origin
Increment remains unchanged；
For each endpoint of laser radar scanning frame after transformation, following steps are executed respectively:
Obtain the second grid probability that the endpoint occupies after converting；
According to the second grid probability, judge after transformation the endpoint whether with known grid map matching；
In the case where judging matched situation, retain the endpoint, and according to the endpoint after the first grid probability and transformation
The the second grid probability occupied, the corresponding update grid probability of the endpoint under obtained current pose；
In the case where judging unmatched situation, the endpoint is deleted.
In a preferred embodiment, judge convert aft terminal whether with known grid map matching, comprising:
Judge whether the second grid probability that the endpoint occupies after converting indicates the endpoint and the known grid after transformation
There is overlapping grid in map；
In the case where there is overlapping grid, the endpoint and known grid map matching after transformation are determined；
In the case where judging there is no grid is overlapped, the endpoint is mismatched with known grating map after determining transformation.
In a preferred embodiment, the reorientation result determines that step includes:
Following steps are executed respectively for each pose of traversal:
For the endpoint of each reservation, the corresponding update grid probability of the endpoint under current pose is substituted into correlation function,
Obtain the corresponding correlation function response of the endpoint under current pose；
To the corresponding correlation function response of current pose lower endpoint with a grain of salt carry out it is tired multiply, tired will multiply result as working as
The corresponding correlation function response of preceding pose；
The response of maximal correlation function is determined from the corresponding correlation function response of pose of all traversals；
The maximal correlation function is responded into corresponding pose as the reorientation result.
In a preferred embodiment, the correlation function is laser radar scanning frame under any pose about traversal
The corresponding nonlinear function for updating grid probability of endpoint.
In a preferred embodiment, the correlation function Rrs(ξ) meets:
Wherein, pξIndicate the corresponding update grid probability of endpoint of laser radar scanning frame under any pose ξ of traversal,
odd(pξ) it is pξRatio probability.
According to another aspect of the present invention, a kind of robot is provided comprising processor and computer-readable storage
Medium is stored with computer program in computer storage medium, which realizes above-mentioned machine when being executed by processor
The method for relocating of device people.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
The method for relocating of robot of the invention is using the related scans matching based on geometric match, related scans matching
Geometric relativity based on present frame radar data and map obtains the highest pose of geometrically registration by global search
With build figure result.Related scans matching is a kind of Global Algorithm, due to being based on geometrical registration, is easy to get global optimum's result.
Further, since related scans matching is global search, initial value is not depended on, has searched for whole map spaces, therefore energy
Enough solve the problems, such as that nonlinear optimization scan matching is easy to cause algorithmic statement to error value in the prior art.
Therefore, the solution of robot " kidnapping " problem is realized the present invention is based on the reorientation of related scans matching realization,
Global optimum is obtained by the search of overall importance set out based on geometry, algorithm is simple and effective.What the present invention provided resets
Position algorithm has the characteristics of not depending on initial value, can providing global optimum compared with nonlinear optimization algorithm.In addition, recovering machine
It can continue the work such as SLAM after the pose of device people (after relocating to robot), the avoiding robot of the task is lost
It loses.
Detailed description of the invention
The detailed description for reading hereafter exemplary embodiment in conjunction with the accompanying drawings is better understood the scope of the present disclosure.Its
In included attached drawing be:
Fig. 1 shows the schematic diagram that the kidnapping of the robot based on reorientation solves process；
Fig. 2 shows the flow diagrams of the method for relocating of robot of the embodiment of the present invention；
Fig. 3 shows the schematic diagram of laser radar scanning frame origin and its endpoint；
Fig. 4 shows the flow diagram of the method for relocating of robot when the endpoint quantity of laser radar scanning frame is 1；
The process signal of the method for relocating of robot when the endpoint quantity that Fig. 5 shows laser radar scanning frame is greater than 1
Figure.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, come below with reference to accompanying drawings and embodiments detailed
Illustrate implementation method of the invention, whereby to how the invention applies technical means to solve technical problems, and reaches technology effect
The realization process of fruit can be fully understood and implemented.
In the prior art, the reorientation that nonlinear optimization scan matching carries out robot is generallyd use.Nonlinear optimization
Scan matching based on present frame radar data occupy grid probability and map to occupy grid probability mismatch degree minimum, by non-
Linear optimization iteratively solves pose and builds figure.However, nonlinear optimization needs an estimation initial value, then searched near initial value
Local optimum out will lead to algorithmic statement to error value if estimation initial value is not near global optimum, it is seen that non-thread
Property optimization scan matching to estimation initial value be it is sensitive, be not suitable for find global optimum's problem.The embodiment of the present invention is for existing
Nonlinear optimization scan matching is sensitive to estimation initial value in technology, is not suitable for finding global optimum's problem, provides a kind of machine
The method for relocating of people.
The embodiment of the present invention realizes the solution of robot " kidnapping " problem based on the reorientation that related scans matching is realized,
Global optimum is obtained by the search of overall importance set out based on geometry, algorithm is simple and effective.
Before elaborating each embodiment of the invention, following term is defined first.
SLAM:Simultaneous Localization And Mapping, while positioning and building figure.Use laser thunder
The pose and environmental map of robot are obtained according to SLAM algorithm up to data.SLAM algorithm is an increment type building map and meter
Calculate the process of robot pose.This process realizes that scan matching is worked as using laser radar using the algorithm of referred to as scan matching
The data of previous frame and the map having been built up are registrated, registration the result is that the pose of the good map and robot of splicing.
Pose: the position of robot and posture.
Scan matching: being registrated the scan data of laser sensor with existing map or does to two frame laser datas
Registration obtains rigid body translation parameter (translation and rotation) while registration.
Fig. 1 shows the schematic diagram that the kidnapping of the robot based on reorientation solves process.As shown in Figure 1, in robot
Asynchronous " kidnapping " phenomenon can occur in SLAM algorithm operational process, including the positions such as skid, move caused by a variety of causes
Variation.At this time need to carry out robot pose ξ*Recovery, this process is called the reorientation of robot.Robot reorientation
It is matched and is realized using related scans, related scans fit through global search and obtain optimum bit of the robot in global map
It sets.Recover the pose ξ of robot*After can continue the work such as SLAM, be unlikely to make the mission failure of robot.It resets
Position algorithm recovers the pose ξ of robot*After can be with this pose ξ*Continue normal SLAM algorithm for initial value.
The scheme of reorientation is matched using related scans, and present frame laser radar data and existing map are done relevant operation
And the maximum corresponding pose of correlation function response is obtained as final matching results, obtain position of the robot in map.
Specific method for relocating is as shown in Fig. 2, Fig. 2 shows the streams of the method for relocating of robot of the embodiment of the present invention
Journey schematic diagram.The method for relocating of the robot of the present embodiment mainly includes step S101 obtaining step, step S102 traversal step
Rapid and step S103 reorientation result determines step.
In the obtaining step of step S101, under radar fix system, the end of the laser radar scanning frame of robot is obtained
Pose increment of the first grid probability and the endpoint that point occupies relative to the origin of the laser radar scanning frame of robot.
Specifically, robot is provided with laser radar.The laser radar scanning frame that lidar measurement obtains is S=(di,
θi,pi), i=1 ... k ... n, wherein i is the serial number for the endpoint (also referred to as scanning element) that the laser radar scanning frame includes, the laser
Radar scanning frame includes n endpoint, d altogetheriIt is that endpoint is provided to the distance of origin by laser radar in scanning frame, indicates machine
The distance between the position of barrier of people and the projection of laser radar light beam, θiIt is and diThe corresponding angle in radar fix system
Information is spent, indicates the line of the position of radar fix system inner machine people and above-mentioned barrier and the angle of horizontal plane, piIt is to sweep
The endpoint i occupation probability (being known as the first grid probability in the present embodiment) for retouching frame be there is no harm in priori and set since its priori measures attribute
For pi=0.75.The origin (i.e. the origin of laser radar scanning frame) of scanning frame S coordinate system (radar fix system) is system, world W's
Pose is ξw, according to pose valuation ξ of the origin of radar fix system in world coordinate systemwEndpoint can be found out in world coordinates
Pose in system(ep indicates endpoint, end point).
The information of laser radar acquisition is described below with reference to Fig. 3.Fig. 3 shows laser radar scanning frame origin and its endpoint
Schematic diagram.As shown in figure 3, it includes 6 endpoints that lidar measurement, which obtains the scanning frame at current pose ξ, 6 endpoints
Serial number is followed successively by 1,2,3,4,5 and 6.Here, a barrier may correspond to an endpoint of laser radar scanning frame, a barrier
Object is hindered to be also possible to correspond to multiple endpoints of the laser radar scanning frame.The starting point of scanning frame is origin o, i.e., institute, robot is in place
The origin position in radar fix system is set, which is ξ in the pose of system, world Ww,For each endpoint of scanning frame
Pose in world coordinate system.Here, pose of 6 endpoints of scanning frame in world coordinate system can be expressed as respectively WithThe position of the corresponding barrier of first endpoint and robot
The distance between be d1, the angle between line and horizontal plane between the position and robot of the barrier is θ1.By triangle letter
Several relationship is it is found that under world coordinate system, pose ξ of the origin of laser radar scanning frame under world coordinate systemwWith first
Pose of a endpoint under world coordinate systemBetween relational expression:
Laser radar scanning frame is expanded to include the case where n endpoint (having the case where n scanning element), available:
Under world coordinate system, the origin pose ξ of laser radar scanning framewWith the pose of endpoint iBetween relational expression:
In the traversal step of step S102, under world coordinate system, each pose in known grating map is traversed.And
Following steps are executed respectively for each pose: the laser radar scanning frame of the robot is transformed into generation from radar fix system
Under boundary's coordinate system and current pose is made to be the origin pose of the laser radar scanning frame after transformation, and converts the front and back laser
The endpoint of radar scanning frame is remained unchanged relative to the pose increment of origin；Obtain the endpoint of the laser radar scanning frame after converting
The the second grid probability occupied；According to the first grid probability and the second grid probability, the laser thunder under current pose is obtained
Up to the corresponding update grid probability of endpoint of scanning frame.
Specifically, it is assumed that plane map Mxm×yn, whereinxmIndicate that map x coordinate range has m Discrete Grid,ynIt indicates
Map y-coordinate range has n Discrete Grid.Raster resolution is determined according to practical map, such as 5cm.
In order to realize global search, each pose of the robot in known grating map is traversed in this step.Time
The corresponding update grid probability of endpoint of laser radar scanning frame is determined under each pose gone through.
For any one pose of traversal, the laser radar scanning frame of robot is transformed into the world from radar fix system
Under coordinate system: the origin pose of laser radar scanning frame is ξ before converting, and the origin pose of laser radar scanning frame is after transformation
ξw, when traversing current pose, the origin pose ξ of laser radar scanning frame after transformationwThe as present bit appearance；Laser before converting
The endpoint pose of radar scanning frame is ξep(i), the endpoint pose of laser radar scanning frame is after transformation
Relative position between the endpoint and origin of pose incremental representation laser radar scanning frame obtained in step S101
Relationship.After coordinate system is converted to world coordinates by radar fix, the relative positional relationship is constant, and pose increment is constant.That is,
Before and after coordinate system transformation, the endpoint of laser radar scanning frame is constant relative to the pose increment of origin.
It, can be by acquiring the end of the laser radar scanning frame after laser radar scanning frame transforms under world coordinate system
Point and known grating map be overlapped grid determine convert after the laser radar scanning frame the second grid for occupying of endpoint it is general
Rate.In conjunction with the first grid probability that the endpoint of the laser radar scanning frame obtained under radar fix system occupies, it can determine and work as
The corresponding update grid probability of the endpoint of the laser radar scanning frame under preceding pose.
In a preferred embodiment of the invention, according to the first grid probability and the second grid probability, obtain current
The corresponding update grid probability of the endpoint of the laser radar scanning frame under pose, comprising: calculate the laser radar before converting and sweep
Retouch the end of the laser radar scanning frame after the corresponding first ratio probability of the first grid probability and transformation that the endpoint of frame occupies
The corresponding second ratio probability of the second grid probability that point occupies；It is general according to the first ratio probability and second ratio
Rate obtains updating ratio probability；The update grid probability is obtained according to the update ratio probability.
Wherein, pξIt is that update at certain end point appearance ξ in place of laser radar scanning frame occupies grid probability.pξFor radar
The ratio probability of grid probability occupied by the endpoint of scanning frame under coordinate system passes through formula (2) in current pose ξ with the endpoint
It is transformed into the product of the ratio probability of grid probability occupied by the grid point being overlapped under map coordinate system (world coordinate system),
That is odd (pξ)=odd (pmap)odd(plds) (3)。
According to grid probability calculation endpoint occupied by endpoint or grid point or the ratio probability of grid point, i.e. odd (p)=
p/(1-p) (4)。
The ratio probability of the grid point under each frame upper extreme point and the map system to coincide with it is found out according to formula (4), then
The corresponding ratio probability for updating grid probability of endpoint that laser radar scanning frame under any pose ξ can be calculated by formula (3),
The update that the ratio probability for the updated grid probability being calculated is brought at formula (4) reverse pose ξ is occupied into grid
Probability pξ=odd (pξ)/(1+odd(pξ)) (5)。
For example, laser radar includes 300 endpoints in the scanning frame of current pose ξ, is transformed by formula (2)
After map coordinate system, wherein 100 endpoints { A, A1 ... .A99 } respectively with 100 grid points of known map B,
B1 ... 99 } it coincides.With the terminal A under radar fix, it is with the grid point B to coincide under map system with terminal A is transformed into
Example is updated the calculation specifications of grid probability, and grid probability occupied by terminal A is PA, the ratio of terminal A is obtained by formula (4)
It is worth probability odd (plds_A)=PA/(1-PA), wherein because of the Apriori property of laser radar, PAFor preset priori value, such as
PA=0.75, certain PAIt can also be other values, be not limited thereto.Grid probability occupied by grid point B is PB, by public affairs
Formula (4) obtains the ratio probability odd (p of grid point Bmap_B)=PB/(1-PB), wherein PBIt can be read from known map.It will
The ratio probability odd (p for the terminal A being calculatedlds_A) and grid point B ratio probability odd (pmap_B) formula (3) are updated to,
Terminal A is obtained in the ratio probability odd (p of the updated grid probability of pose ξξA)=odd (pmap_B)odd(plds_A), it will
odd(pξA) be updated to formula (4), reverse obtains terminal A in the updated grid Probability p of pose ξξA=odd (pξA)/(1+
odd(pξA)).Similarly, it can find out and coincide with the grid point under the converted system to map on the scanning frame under current pose ξ
The updated grid Probability p of all endpointsξi。
It is determined in step in step S103 reorientation result, correlation function will be made to respond maximum update grid probability corresponding
Pose be determined as the reorientation result of robot.
Specifically, the calculating process for seeking the response of maximal correlation function is exactly search translation and revolution space, obtains correlation
Function RrsThe peak response of (ξ), the corresponding maximized matching of peak response.
In the present embodiment, the corresponding update grid of the endpoint of laser radar scanning frame under obtained each pose is general
Rate substitutes into correlation function respectively, obtains the corresponding correlation function response of each pose；From the corresponding correlation of the pose of all traversals
The response of maximal correlation function is determined in function response；The maximal correlation function is responded into corresponding pose as the reorientation
As a result.
The method for relocating of the robot of the embodiment of the present invention is swept using the related scans matching based on geometric match, correlation
Geometric relativity of the matching based on present frame radar data and map is retouched, geometrically registration highest is obtained by global search
Pose and build figure result.Related scans matching is a kind of Global Algorithm, due to being based on geometrical registration, is easy to get global optimum
As a result.Further, since related scans matching is global search, initial value is not depended on, has searched for whole map spaces, because
This is able to solve nonlinear optimization scan matching in the prior art and is easy to cause the problem of algorithmic statement is to error value.
Therefore, the present embodiment realizes the solution of robot " kidnapping " problem based on the reorientation that related scans matching is realized
Certainly, global optimum is obtained by the search of overall importance set out based on geometry, algorithm is simple and effective.What the present embodiment provided
Relocate algorithm has the characteristics of not depending on initial value, can providing global optimum compared with nonlinear optimization algorithm.In addition, restoring
It can continue the work such as SLAM (after relocating to robot) after the pose of robot out, avoid appointing for robot
Business failure.
In the case where below with reference to Fig. 4 and Fig. 5 respectively in laser radar scanning frame comprising an endpoint and multiple endpoints
Method for relocating is described in detail.
The process that Fig. 4 shows the method for relocating of robot when the endpoint quantity that laser radar scanning frame includes is 1 is shown
It is intended to.As shown in figure 4, the method for relocating of the robot of the present embodiment mainly includes step 201 to step 207.
In step 201, laser radar scanning frame is acquired using the laser radar of robot.
In step 202, the quantity for the endpoint that the laser radar scanning frame includes is determined.
In step 203, in the case where determining the number of endpoint of the laser radar scanning frame is 1, laser radar is determined
Pose increment of the endpoint of scanning frame relative to origin.For example, laser radar scanning frame only includes an endpoint in Fig. 3,
Then the laser radar scanning frame is denoted as S=(d1,θ1,p1), then pose increment of the endpoint of laser radar scanning frame relative to origin
ForPose of the endpoint of laser radar scanning frame under world coordinate system is calculated by formula (2) to be expressed as
In step 204, each pose of the traversal robot in known grating map, the laser radar of robot is swept
It retouches frame to transform under world coordinate system, and current pose is made to be the origin pose of the laser radar scanning frame after transformation, and
The endpoint of the transformation front and back laser radar scanning frame is remained unchanged relative to the pose increment of origin.
Specifically, scanning frame S is provided in the pose initial value ξ of system, the worldw(i), without loss of generality, it can be assumed that be ξw(i)=
(0,0,0).The starting point traversed is the starting pose ξ in known grating mapw(i)=(0,0,0).
When robot is located at initial pose ξw(i)=(0,0,0) when, the origin pose of the laser radar scanning frame after transformation
For (0,0,0), endpoint pose isWhen positioned at next pose ξw(i)=(0,0,1) when, this swashs after transformation
The origin pose of optical radar scanning frame is (0,0,1), and endpoint pose isWhen positioned at next pose ξw(i)
When=(0,0,2), the origin pose of the laser radar scanning frame is (0,0,2) after transformation, and endpoint pose isAnd so on, obtain origin pose and the endpoint position of the laser radar scanning frame under each pose
Appearance.
In step 205, the occupied according to the endpoint of laser radar scanning frame after the first grid probability and transformation
Two grid probability obtain the corresponding update grid probability of endpoint of the laser radar scanning frame under current pose.
Specifically, it after laser radar scanning frame transforms under world coordinate system, can be swept by acquiring the laser radar
Retouch be overlapped grid to determine that the endpoint of the laser radar scanning frame after transformation occupies the of the endpoint of frame and known grating map
Two grid probability.It, can in conjunction with the first grid probability that the endpoint of the laser radar scanning frame obtained under radar fix system occupies
With the corresponding update grid probability of the endpoint of the laser radar scanning frame under the current pose of determination.It is real that detailed process can refer to one
Apply elaborating for a step S102.
In step 206, the response of maximal correlation function is determined from all correlation function responses for updating grid probability.
Specifically, by each update grid probability calculated, i.e., (0,0,0) the laser radar scanning frame under initial pose
The corresponding update grid Probability p of endpointξ(0,0,0), the endpoint of laser radar scanning frame is corresponding more under pose (0,0,1)
New grid Probability pξ(0,0,1), the corresponding update grid Probability p of the endpoint of laser radar scanning frame under pose (0,0,2)ξ(0,
0,2) substitutions correlation function ... is waited, the corresponding correlation function R of each pose is obtainedrs(pξ(0,0,0))、Rrs(pξ(0,0,1)),
Rrs(pξ(0,0,2)) etc..
In step 206, the response of maximal correlation function is determined from all correlation function responses for updating grid probability.
In step 207, maximal correlation function corresponding pose is responded to be determined as relocating result.
Specifically, it is assumed that obtained by being ranked up to the response of all correlation functions when robot is located at pose (0,0,2)
Corresponding correlation function responds Rrs(pξ(0,0,2)) it is maximum, then the pose (0,0,2) is determined as to the reorientation knot of robot
Fruit.That is, (0,0,2) is the pose after the reorientation of robot.Reorientation algorithm can be with this position after recovering the pose of robot
Appearance (0,0,2) is that initial value continues normal SLAM algorithm.
The method for relocating of the robot of the present embodiment is using the related scans matching based on geometric match.Related scans
It fits over macroscopically also with the correlation between figure, calculates related coefficient, correctly (the matching of related coefficient when matching
Degree) highest, scanning frame and figure do it is related can be by dividing three loop nestings (in ξ posex,ξy,ξφThree dimensions) net one by one
Lattice are searched for realize, each complete search step calculates a correlation function response Rrs(ξ), take related coefficient it is highest that
Pose ξ*.The use of space (geometry) information is focused in related scans matching, has inhibiting effect for noise.
Fig. 5 shows the process of the method for relocating of robot when the endpoint quantity that laser radar scanning frame includes is greater than 1
Schematic diagram.As shown in figure 5, the method for relocating of the robot of the present embodiment mainly includes step 301 to step 305.
In step 301, laser radar scanning frame is acquired using the laser radar of robot.
In step 302, the endpoint quantity that the laser radar scanning frame includes is determined.
In step 303, in the case where determining that the number of endpoint of the laser radar scanning frame is greater than 1, swash for described
Each of optical radar scanning frame endpoint obtains pose increment of the endpoint relative to origin.
Specifically, referring to Fig. 3, determine to include 6 endpoints in laser radar scanning frame.First endpoint corresponding informance has
d1,θ1,p1, second endpoint corresponding informance have d2,θ2,p2, third endpoint corresponding informance has d3,θ3,p3, the 4th endpoint pair
Information is answered to have d4,θ4,p4, the 5th endpoint corresponding informance have d5,θ5,p5, the 6th endpoint corresponding informance have d6,θ6,p6, laser
6 endpoints of radar scanning frame relative to origin pose increment successively are as follows:WithThen,
The pose of system, the world is transformed under current pose according to 6 endpoints that formula (2) successively acquires scanning frame
In step 304, each pose in known grating map is traversed, by laser radar scanning frame from radar fix system
It transforms under world coordinate system, and makes current pose be the origin pose of laser radar scanning frame, and convert front and back laser
The endpoint of radar scanning frame is remained unchanged relative to the pose increment of the origin of the laser radar scanning frame.
Scanning frame S is provided in the pose initial value ξ of system, the worldw(i), without loss of generality, it can be assumed that be ξw(i)=(0,0,
0).The starting point traversed is the starting pose ξ in known grating mapw(i)=(0,0,0).
The step of executing for any one endpoint of laser radar scanning frame is all similar, with laser radar scanning frame
It is illustrated for first end point:
When robot is located at initial pose ξw(i)=(0,0,0) when, the origin pose of laser radar scanning frame is after transformation
(0,0,0), the pose under the system, the world of first end point areWhen positioned at next pose ξw(i)=(0,0,1)
When, the origin pose of laser radar scanning frame is (0,0,1) after transformation, and the pose under the system, the world of first end point isWhen positioned at next pose ξw(i)=(0,0,2) when, the origin pose of laser radar scanning frame after transformation
For (0,0,2), the pose under the system, the world of first end point isAnd so on, it obtains under each pose
The origin pose of laser radar scanning frame and the pose of first end point.And then the available laser radar scanning under each pose
The origin pose of frame and the pose of each endpoint.
In step 305, under world coordinate system, each pose in known grating map is traversed, for each pose
Following steps are executed respectively: laser radar scanning frame being transformed under world coordinate system from radar fix system, and makes present bit
Appearance be transformation after the laser radar scanning frame origin pose, and convert front and back the laser radar scanning frame endpoint relative to
The pose increment of origin remains unchanged.After laser radar scanning frame is transformed to current pose, for laser radar scanning frame
Each endpoint execute following steps respectively: the second grid probability that the endpoint after transformation occupies is obtained, according to the second gate
Lattice probability, judge transformation after the endpoint whether with known grid map matching；In the case where judging matched situation, retain the endpoint
And according to the second grid probability for occupying of the endpoint after the first grid probability and transformation, the endpoint under obtained current pose
Corresponding update grid probability；In the case where judging unmatched situation, the endpoint is deleted.
According to above content, the corresponding update grid probability of all reservation endpoints under current pose can have been calculated, it will
The corresponding update grid probability of the reservation endpoint substitutes into correlation function under current pose, and it is corresponding to obtain the endpoint under current pose
Correlation function response.Then, to the corresponding correlation function response of current pose lower endpoint with a grain of salt carry out it is tired multiply, multiply tired
As a result as the corresponding correlation function response of current pose.Finally, from the corresponding correlation function response of pose of all traversals
It determines that maximal correlation function responds, and the maximal correlation function is responded into corresponding pose as the reorientation result.
Specifically, the mode according to formula (2) determines each end of laser radar scanning frame under current pose first
The pose that is transformed under system, the world of point, and the pose of the system, the world of each endpoint judge laser radar scanning frame each endpoint whether
Match with known grating map.Unmatched endpoint is deleted, only retains the endpoint with known grid map matching, and for protecting
The each endpoint stayed is sought updating grid probability according to step 102, and then seeks updating the correlation function response (tool of grid probability
Body method is as described in step 206).
Here, judge laser radar scanning frame after transformation endpoint whether the method with known grid map matching are as follows: it is first
Elder generation judges that the endpoint of the laser radar scanning frame after converting is weighed whether the pose of system, the world exists with the known grating map
Gatestack lattice；In the case where there is overlapping grid, the endpoint and the known grid map matching are determined；Judging to be not present
In the case where being overlapped grid, determine that the endpoint and the known grating map mismatch.
Next, for any pose of traversal, by the corresponding update grid probability of the pose lower endpoint with a grain of salt
Correlation function response carry out it is tired multiply, tired will multiply result as the corresponding correlation function response of current pose.
Each pose in known grating map is traversed, above-mentioned steps are carried out, with the corresponding correlation of each pose of determination
Function response.
Then, the response of maximal correlation function is determined from the corresponding correlation function response of all poses, by the maximum phase
It closes function and responds corresponding pose as the reorientation result.
The method for relocating of the robot of the present embodiment is using the related scans matching based on geometric match.Related scans
It fits over macroscopically also with the correlation between figure, calculates related coefficient, correctly (the matching of related coefficient when matching
Degree) highest, scanning frame and figure do it is related can be by dividing three loop nestings (in ξ posex,ξy,ξφThree dimensions) net one by one
Lattice are searched for realize, each complete search step calculates a correlation function response Rrs(ξ), take related coefficient it is highest that
Pose ξ*.The use of space (geometry) information is focused in related scans matching, has inhibiting effect for noise.
In a preferred embodiment of the invention, above-mentioned correlation function is preferably related to robot in the known grid
The corresponding nonlinear function for updating grid probability of the endpoint of laser radar scanning frame under any pose in figure.Particularly, phase
Close function Rrs(ξ) meets:
Wherein, pξIndicate the corresponding update grid probability of endpoint of laser radar scanning frame under any pose ξ of traversal,
odd(pξ) it is pξRatio probability.It should be noted that above-mentioned about correlation function RrsThe calculation formula of (ξ) is only one
Example is not limited thereto.
The embodiment of the invention also provides a kind of robots.The robot of the present embodiment mainly includes processor and is stored with
The computer readable storage medium of computer program realizes such as above-mentioned any embodiment when the computer program is executed by processor
The method for relocating of the robot.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But protection scope of the present invention still should be subject to the scope of the claims as defined in the appended claims.
Claims (11)
1. a kind of method for relocating of robot characterized by comprising
It is general to obtain the first grid that the endpoint of the laser radar scanning frame of robot occupies under radar fix system for obtaining step
The pose increment of rate and the endpoint relative to the origin of the laser radar scanning frame of robot；
Traversal step traverses each pose in known grating map, and hold respectively for each pose under world coordinate system
Row following steps:
The laser radar scanning frame of the robot is transformed under world coordinate system from radar fix system, and makes current pose
For transformation after the laser radar scanning frame origin pose, and convert front and back the laser radar scanning frame endpoint relative to original
The pose increment of point remains unchanged；
Obtain the second grid probability that the endpoint of the laser radar scanning frame after converting occupies；
According to the first grid probability and the second grid probability, the endpoint pair of the laser radar scanning frame under current pose is obtained
The update grid probability answered；
Reorientation result determines step, and correlation function will be made to respond the corresponding pose of maximum update grid probability and be determined as machine
The reorientation result of people.
2. the method according to claim 1, wherein the endpoint for obtaining the laser radar scanning frame of robot is opposite
In the pose increment of origin, comprising:
Laser radar scanning frame is acquired using the laser radar of robot；
Determine the number of endpoint that the laser radar scanning frame includes；
In the case where determining the number of endpoint of the laser radar scanning frame is 1, the endpoint phase of laser radar scanning frame is determined
For the pose increment of origin.
3. according to the method described in claim 2, it is characterized in that, according to the first grid probability and the second grid probability,
Obtain the corresponding update grid probability of endpoint of the laser radar scanning frame under current pose, comprising:
Calculate convert before the laser radar scanning frame endpoint occupy the corresponding first ratio probability of the first grid probability, with
And the corresponding second ratio probability of the second grid probability that the endpoint of the laser radar scanning frame occupies after transformation；
According to the first ratio probability and the second ratio probability, obtain updating ratio probability；
The update grid probability is obtained according to the update ratio probability.
4. according to the method described in claim 3, it is characterized in that, the reorientation result determines that step includes:
The corresponding update grid probability of the endpoint of the laser radar scanning frame under obtained each pose is substituted into correlation respectively
Function obtains the corresponding correlation function response of each pose；
The response of maximal correlation function is determined from the corresponding correlation function response of pose of all traversals；
The maximal correlation function is responded into corresponding pose as the reorientation result.
5. according to the method described in claim 2, it is characterized in that, the endpoint for obtaining the laser radar scanning frame of robot is opposite
In the pose increment of origin, further includes:
In the case where determining that the number of endpoint of the laser radar scanning frame is greater than 1, in the laser radar scanning frame
Each endpoint obtains pose increment of the endpoint relative to origin.
6. according to the method described in claim 5, it is characterized in that, the traversal step includes:
Under world coordinate system, each pose in known grating map is traversed, executes following steps respectively for each pose:
Laser radar scanning frame is transformed under world coordinate system from radar fix system, and current pose is made to be that this swashs after converting
The origin pose of optical radar scanning frame, and convert pose increment of the endpoint of the front and back laser radar scanning frame relative to origin
It remains unchanged；
For each endpoint of laser radar scanning frame after transformation, following steps are executed respectively:
Obtain the second grid probability that the endpoint occupies after converting；
According to the second grid probability, judge after transformation the endpoint whether with known grid map matching；
In the case where judging matched situation, retain the endpoint, and occupy according to the endpoint after the first grid probability and transformation
The second grid probability, the corresponding update grid probability of the endpoint under obtained current pose；
In the case where judging unmatched situation, the endpoint is deleted.
7. according to the method described in claim 6, it is characterized in that, judge convert aft terminal whether with known grating map
Match, comprising:
Judge whether the second grid probability that the endpoint occupies after converting indicates the endpoint and the known grating map after transformation
In the presence of overlapping grid；
In the case where there is overlapping grid, the endpoint and known grid map matching after transformation are determined；
In the case where judging there is no grid is overlapped, the endpoint is mismatched with known grating map after determining transformation.
8. according to the method described in claim 6, it is characterized in that, the reorientation result determines that step includes:
Following steps are executed respectively for each pose of traversal:
For the endpoint of each reservation, the corresponding update grid probability of the endpoint under current pose is substituted into correlation function, is obtained
The corresponding correlation function response of the endpoint under current pose；
To the corresponding correlation function response of current pose lower endpoint with a grain of salt carry out it is tired multiply, multiply result as present bit for tired
The corresponding correlation function response of appearance；
The response of maximal correlation function is determined from the corresponding correlation function response of pose of all traversals；
The maximal correlation function is responded into corresponding pose as the reorientation result.
9. the method according to claim 4 or 8, which is characterized in that the correlation function is any pose about traversal
The corresponding nonlinear function for updating grid probability of the endpoint of lower laser radar scanning frame.
10. according to the method described in claim 9, it is characterized in that, the correlation function Rrs(ξ) meets:
Wherein, pξIndicate the corresponding update grid probability of endpoint of laser radar scanning frame under any pose ξ of traversal, odd (pξ)
For pξRatio probability.
11. a kind of robot, which is characterized in that including processor and the computer-readable storage medium for being stored with computer program
Matter realizes the reorientation of the robot as described in any one of claims 1 to 10 when the computer program is executed by processor
Method.
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| WO2022267285A1 (en) * | 2021-06-25 | 2022-12-29 | 深圳市优必选科技股份有限公司 | Robot pose determination method and apparatus, robot and storage medium |
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