CN107908185A - A kind of robot autonomous global method for relocating and robot - Google Patents
A kind of robot autonomous global method for relocating and robot Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A kind of robot autonomous global method for relocating, by existing map rasterizing and to carrying out difference assignment with barrier and without the grid of barrier, the multiple range data drawn with the laser radar sensor of robot same position to the scanning of exterior barrier and angle-data corresponding with range data are marked out for origin by dummy robot position in map in the form of laser spots position, the assignment of grid where laser spots position corresponding to each dummy robot position is integrated, filter out robot location, the correct position of robot is calculated from the dummy robot position filtered out for the first time by particle filter algorithm.By carrying out difference assignment to the grid with barrier and without barrier, location expression of the laser spots position in map, it is quick to calculate laser radar sensor information and the matching degree of electronic map, the branchpoint of distinctiveness maximum is found to divert the aim a little, self-position is fast and accurately obtained in known map.
Description
Technical field
The present invention relates to artificial intelligence field of navigation technology, more particularly to a kind of robot autonomous global method for relocating
And robot.
Background technology
Localization for Mobile Robot is the important research direction of robotics, and robot realizes the key of independent navigation,
It is of great significance for improving robot automation's level.Definition method is generally divided into two classes：Absolute fix and relatively fixed
Position.Absolute fix requires robot to determine the position of oneself in the case where not specifying initial position.Relative positioning refers to robot
The position of oneself is determined under conditions of to initial position, is research direction main in robot localization processing.It is common complete
Office's re-positioning technology is mostly the re-positioning technology of view-based access control model, and this technology accuracy in computation is high, but is subject to hardware device
Restrict and the restriction of image processing techniques, need on hardware to meet the Quick Acquisition to image and calculating, that is, need image to pass
Sensor and high-performance calculation unit, technically need to meet characteristics of image is fast and accurately extracted and matched, this is for machine
For people's industry, there are the problem of production cost and all higher R＆D costs.
The content of the invention
It is an object of the invention to propose a kind of robot autonomous global method for relocating, by map rasterizing and
Difference assignment is carried out to the grid with barrier and the grid without barrier, passes through position of the laser spots position in map
Description is put, the fast verification to the actually located environment of robot and simulation point position is realized, solves swashing for point cloud matching
Light-map matching technology filters particle and is screened, computationally intensive, calculates time length, and false positive is higher asks
Topic.
For this purpose, the present invention uses following technical scheme：
A kind of robot autonomous global method for relocating, by existing map rasterizing and to the grid with barrier and
The grid for not having barrier carries out difference assignment, by with the laser radar sensor of robot same position to exterior barrier
The multiple range data drawn and angle-data corresponding with range data are scanned in map using dummy robot position as original
Point is marked out in the form of laser spots position to be come, to grid where the laser spots position corresponding to each dummy robot position
Assignment integrates, and the coincidence factor of grid and the grid with barrier according to where laser spots position, calculates grid where laser spots position
Assignment integration, filter out at least one dummy robot position, and by particle filter algorithm from the machine filtered out for the first time
The correct position of robot is further calculated in people position.
As one of the preferred embodiments of the present invention, include the following steps：
Step 1, will cover lattice structure on existing map, and same corresponding numerical value f is initialized to each grid0,
And the grid for having barrier on map is assigned a value of f1, by the grid in the setpoint distance of barrier according to its distance away from
The distance of grid is assigned a value of Q where its nearest barriern；QnNumerical value occupy f0And f1Between, it is nearer apart from barrier
Its Q of gridnNumerical value closer to f1, the particle of random distribution setting density, institute in clear grid on the map
State position of the particle to dummy robot；
Step 2, measured by laser radar sensor multiple distance values of the robot in the range of set angle and
Angle-data corresponding with range data, and by it is multiple apart from number away from and corresponding angle-data be converted to and artificially sat with machine
Mark multiple laser spots positions of origin；The positional information of corresponding each particle describes each grain again on the map after rasterizing
The positional information of the corresponding laser spots position of son；The assignment integration of grid where calculating the laser spots position corresponding to each particle, and
At least one preferred particle is filtered out according to the first threshold of setting；
Step 3, shifted by the preferred particle to filtering out according to the transfer path of setting, and to transfer after
The assignment of the grid where laser spots position corresponding to each preferred particle is integrated, according to the second threshold of setting into one
Step screens the part preferred particle for the second threshold requirement for reaching setting in multiple preferred particles；
Step 4, repeat step 3, finally filter out only one preferred particle and indicate institute of robot as optimal particle
Position.
As one of the preferred embodiments of the present invention, the grid is equidistant grid, reachable with robot on map
To region be limited M rows around grid of the setting with barrier and N is classified as breathing space, the grid in the breathing space
Assignment Qn=f1-dn, wherein dnThe distance for treating assignment grid and its nearest neighbours grid, when treat assignment grid with away from its nearest neighbours
Barrier where the horizontal row difference of grid be an, longitudinal vertical difference is bn, then assignment grid and the barrier away from its nearest neighbours are treated
Hinder the distance of the grid where thingWherein M, N is positive integer, anAnd bnFor positive number, f0＜ Qn＜ f1。
As one of the preferred embodiments of the present invention, the f0＜ ＜ f1, to improve the difference degree of assignment integration.
As one of the preferred embodiments of the present invention, the horizontal grid number of the lattice structure is c, the grid
Longitudinal grid number of structure is e, then the spacing r between grid chooses f1/ c and f1Less one in the two numerical value of/e.
As one of the preferred embodiments of the present invention, the f0Value is 0, the f1Value is 100.
As one of the preferred embodiments of the present invention, it is limited on map with the accessible region of robot and sets tool
There are the M rows around the grid of barrier and N to be classified as breathing space, by positive sequence and the two different directions of inverted order to each
Each grid in expansion area carries out assignment, when the positive sequence of the same grid in expansion area travels through assignment and inverted order time
When going through assignment difference, assignment of the bigger numerical as grid is taken, wherein M, N is positive integer.
As one of the preferred embodiments of the present invention, positive sequence travels through lattice structure and in each expansion area
Grid carries out assignment, first by positioned at the grid bottom right being traversed, just under, in four grids on upper left and right side at least its
In a grid the grid that is traversed with being calculated of the assignment distance values corresponding with the grid being traversed that subtract it is pre-
Assignment, takes positive sequence assignment of the preassignment of maximum as the grid being traversed；
Inverted order travels through lattice structure and to carrying out assignment in each expansion area, first by positioned at the grid being traversed
Left side, upper left, the assignment of at least one of which grid in just upper, upper right four grids subtract it and the grid that is traversed
The preassignment for the grid that corresponding distance values are traversed with being calculated, takes the preassignment of maximum as the grid being traversed
Inverted order assignment.
As one of the preferred embodiments of the present invention, with the coordinate system of the artificial origin of machine, laser radar sensor
The location expression of laser spots position be [xl yl]T, coordinate system is established on map, then the position coordinates corresponding to particle isLaser spots position is brought into map coordinates system, then the description of the laser spots position in map coordinates system
For [xv yv]T, according to equation below：
Wherein,For the direction and map reference of particle
The angle of the X-axis of system, T are that the describing mode of coordinate position is changed, and calculate the laser spots position corresponding to each particle in map
The assignment of the position of upper corresponding grid is integrated and compared.
As one of the preferred embodiments of the present invention, step 3 further includes：
Step 3.1, a first preferred particle J whereiniSurrounding's random distribution have and multiple be used for dummy robot position
Branchpoint, take one of branchpoint SiOccasional frame is established for random coordinates origin, using the branchpoint as origin
Direction is occasional frame X-direction or Y direction, the grid occupied around the random coordinates origin by barrier
Coordinate position redescribed in occasional frame；
Step 3.2, by step 3.1 with preferred particle JiCorresponding all branchpoints, random coordinates and described random
The coordinate position of the grid occupied around coordinate origin by barrier keeps former distributed architecture to copy to other preferred particles successively
Around, and the distributed architecture all same of each preferred particle and corresponding multiple branchpoints is kept, each preferred grain
The numerical value of sub coordinate position corresponding grid in map according to the grid occupied around its random coordinates origin by barrier
Integrated and contrasted, find the branchpoint of otherness maximum as target point；
Step 3.3, the position according to target point and with the preferred particle corresponding to target point, determine corresponding with target point
Preferred particle to target point path planning, driving robot according to path planning reach simulated target point, pass through robot
Laser radar sensor measured in the range of set angle to around draw second distance data and with second distance number
According to corresponding second angle data, range data and corresponding angle-data are marked out using target point as coordinate origin, into
For second laser point position；The assignment integration for being under the jurisdiction of grid residing for the second laser point position of different preferred particles is calculated, reaches and sets
The preferred particle of fixed second threshold requirement is contemplated as falling within the convergence region of robot.
As one of the preferred embodiments of the present invention, in step 3.1, preferred particle JiIt is to correspond to laser spots position in grid
The assignment integration of lattice is highest.
As one of the preferred embodiments of the present invention, further included each of one of preferred particle in step 3.2
The numerical value of grid is integrated where laser spots position corresponding to a branchpoint, and an optimal transfer is filtered out according to integrated value
Point, using the optimal branchpoint filtered out as origin, establishes occasional frame, the pointing direction of the optimal branchpoint is random
The X-direction or Y direction of coordinate system.
As one of the preferred embodiments of the present invention, the branchpoint S to chooseiFor occasional frame origin, branchpoint
SiThe angle of the X-direction of direction and map coordinates system isThen the random coordinates origin is with respect to map coordinates system
It is described asThe random coordinates origin SiGrid coordinate [the x that surrounding is occupiedo yo]TIn random coordinates
Tracing as [x under systemso yso]T, therefore, the grid coordinate being occupied around the random coordinates origin is under map coordinates system
Trace for：
As one of the preferred embodiments of the present invention, further include：
Step 5, near the optimal particle finally filtered out, redistribute particle；
Step 6, be at least repeated once the particle in step 5 step 1 and arrive step 4.
A kind of robot, including robot body and the laser radar sensor on robot body, the machine
Device human body is positioned using the robot autonomous global method for relocating.
Beneficial effect：By map rasterizing and to the grid with barrier and the grid without barrier into
Row difference assignment, by location expression of the laser spots position in map, it is quick calculate laser radar sensor information with electronically
The matching degree of figure, carries out the particle in particle filter algorithm quick and accurately screens, by calculating after state transfer
Assessment with otherness, finds and diverts the aim a little, accelerates particle convergence rate, and robot is fast in known map environment
Speed accurately obtains the positional information of itself, that is, solves robot abduction issue.
Embodiment
Technical scheme is further illustrated below by embodiment.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.Below in conjunction with embodiment, the present invention will be described in detail.
In order to make those skilled in the art more fully understand application scheme, to the technical side in the embodiment of the present application
Case is clearly and completely described, it is clear that and described embodiment is only the embodiment of the application part, rather than entirely
The embodiment in portion.Based on the embodiment in the application, those of ordinary skill in the art are without making creative work
All other embodiments obtained, should all belong to the scope of the application protection.
It should be noted that the term " first " of the description and claims of this application, " second " etc. are to be used for area
Not similar object, without for describing specific order or precedence.It should be appreciated that the data so used are appropriate
In the case of can exchange, so as to embodiments herein described herein.In addition, term " comprising " and " having " and they
Any deformation, it is intended that cover it is non-exclusive include, for example, contain the process of series of steps or unit, method,
System, product or equipment are not necessarily limited to those steps clearly listed or unit, but may include what is do not listed clearly
Or for the intrinsic other steps of these processes, method, product or equipment or unit.
At present, the common global re-positioning technology of mobile robot is mostly the re-positioning technology of view-based access control model, this technology
Accuracy in computation is high, but is subject to the restriction of hardware device and restricting for image processing techniques, needs to meet to figure on hardware
The Quick Acquisition of picture and calculating, that is, need imaging sensor and high-performance calculation unit, technically needs to meet to characteristics of image
Fast and accurately extract and match, this is required for higher for the robot based on laser in production cost and R＆D costs.
Robot global re-positioning technology based on laser is also used in mobile-robot system, and this kind of technology is equal
Using particle filter as main body frame, but this technology is less common in actual use, because most of based on laser
Robot global re-positioning technology carried out particle using single laser-map matching technology based on point cloud matching
Filter and screening, it is computationally intensive, time length is calculated, and false positive is higher.Therefore, to solve the above-mentioned problems, the present invention provides
A kind of robot autonomous global method for relocating.
Embodiment 1
A kind of robot autonomous global method for relocating, by by existing map rasterizing and to the grid with barrier
Lattice and grid without barrier carry out difference assignment, outside will be hindered with the laser radar sensor of robot same position
Thing is hindered to scan the multiple range data drawn and angle-data corresponding with range data in map with dummy robot position
Mark out to come in the form of laser spots position for origin, to grid where the laser spots position corresponding to each dummy robot position
The assignment integration of lattice, according to the laser spots position principle the higher the better with the coincidence factor of the grid with barrier, filters out at least
One dummy robot position, and machine is calculated from the dummy robot position filtered out for the first time by particle filter algorithm
The correct position of device people.In this embodiment, grid is carried out in difference assignment procedure, such as can be to barrier
Grid is assigned a value of 100, and 0 is assigned a value of to the grid of no barrier, as long as energy difference out has barrier and do not have obstacle
The grid of thing；0 can also will be assigned a value of to the grid with barrier, 100 are assigned a value of to the grid of no barrier.
By being equidistant multiple grids by map partitioning, each by the map rasterizing that robot has or has loaded
Grid covers the corresponding part of map, and difference assignment is carried out to the grid with barrier and the grid without barrier, can
To be to have that the grid numerical value of barrier is larger, the grid numerical value without barrier is smaller or with barrier
Grid numerical value is smaller, and the grid numerical value without barrier is larger, and difference assignment is mainly used for computationally distinguishing with obstacle
The grid of thing and the grid without barrier.
By by with the laser radar sensor of robot same position along setting scanning angle to exterior barrier into
Row scanning, so that range data and angle-data of these barriers away from robot are drawn, using the analog position of robot as original
Point describes above-mentioned range data and angle-data in map in the form of laser spots position.Pass through grid where laser spots position
Assignment integral and calculating machine human simulation point position matching degree, therefrom choose at least one analog position that matching degree is higher, into
One step reduces screening scope, quickly to obtain robot region, repeats to screen, until determining robot in map
Position.The scanning angle of laser radar sensor is preferably 360 ° of scannings, in the specific implementation, can also be answered according to specific
With scene, it is set as 270 °, 180 °, 90 ° etc..
Difference tax is carried out by map rasterizing and to the grid with barrier and the grid without barrier
Value, by location expression of the laser spots position in map, quick present laser radar sensor information and the electronic map of calculating
Matching degree, carries out the particle in particle filter algorithm quick and accurately screens, poor by matching after calculating state transfer
The assessment of the opposite sex, finds the highest state of income and diverts the aim a little, accelerate particle convergence rate, realize robot
The posture information of itself is fast and accurately obtained in the map environment known, that is, solves robot abduction issue.
When it is implemented, the robot autonomous global method for relocating, including such as issue step：
Step 1, will cover lattice structure on existing map, and same corresponding numerical value f is initialized to each grid0,
And the grid for having barrier on map is assigned a value of f1, by the grid in the setpoint distance of barrier according to its distance away from
The distance of grid is assigned a value of Q where its nearest barriern；QnNumerical value occupy f0And f1Between, the grid nearer apart from barrier
Its Q of latticenNumerical value closer to f1, the particle of random distribution setting density, described in clear grid on the map
Particle to dummy robot position；For the ease of calculate and it is fault-tolerant, the grid is preferably equidistant grid, the grid
For square grating texture.The method that assignment is replaced by specific aim after initialization, the completion of effective have barrier grid
Lattice and the assignment without barrier grid, simplify assignment program, reduce assignment operation.
Step 2, measured by laser radar sensor robot in the range of set angle it is multiple apart from number away from and
Angle-data corresponding with range data, and multiple range data and corresponding angle-data are converted to and artificially sat with machine
Mark multiple laser spots positions of origin；The positional information of corresponding each particle describes its correspondence again on the map after rasterizing
Laser spots position positional information；The assignment integration of grid where calculating laser spots position corresponding to each particle, and according to setting
Fixed first threshold filters out at least one preferred particle；Work as f1＞ QnWhen, then the particle more than first threshold is filtered out as excellent
Particle is selected, works as f1＜ QnWhen, then the particle less than first threshold is filtered out as preferred particle.The numerical value base area of first threshold
Size, complexity, the f of figure1And QnDifference ratio specifically adjusted.
Step 3, shifted by the preferred particle to filtering out according to the transfer path of setting, and to transfer after
The assignment of the grid where laser spots position corresponding to each preferred particle is integrated, and is set reaching in multiple preferred particles
The part preferred particle of fixed second threshold requirement screens；By the preferred particle filtered out according to same turn on map
Shifting mode is shifted, and by believing the positional information that the preferred particle after transfer obtains and the position of new laser spots position
Breath further matches the scope for reducing preferred particle, and the branch mode of the preferred particle can have multiple choices, can turn
Become the angle of setting or the distance of the direction operation setting along setting.
Step 4, repeat step 3, finally filter out only one preferred particle and indicate institute of robot as optimal particle
Position.
In order to fast and accurately restrain particle, reduce and omit correct position particle, improve the directive property of particle sizing,
On map with the accessible region of robot be limited setting with barrier grid around M rows and N arrange as breathing space, institute
State the assignment Q of the grid in breathing spacen=f1-dn, wherein dnIt is the distance for treating assignment grid and its nearest neighbours grid, when waiting to assign
Value grid and the horizontal row difference of grid where the barrier away from its nearest neighbours are an, longitudinal vertical difference is bn, then assignment grid are treated
Lattice and the distance away from the grid where the barrier of its nearest neighboursWherein M, N is positive integer, anAnd bnFor just
Number, the setting of breathing space so that the particle near robot correct position can show to match accordingly in calculating process
Degree, reduces the probability of false positive.
Preferably, f0＜ Qn＜ f1.It is higher for the grid assignment with barrier, assigned for the grid of no barrier
It is worth the assignment of relatively low grid in breathing space between f0And f1Between, further, in order not to same particle discrimination more
Substantially, the f0＜ ＜ f1, can be very good to improve the difference degree of assignment integration.
The assignment d of assignment grid is treated in breathing spacenDepending on anAnd bn, anAnd bnDepending on the spacing r between grid and treat
The quantity of interval grid between assignment grid and the grid with barrier, when it is implemented, meeting QnNumerical value occupy
f0And f1Between in the case of, r can also be calculated according to the actual range assignment corresponding to grid and take f1/ M and f1/N
Less numerical value is H in the two numerical value, and the spacing r between grid chooses in the range of (0, H).In order to ensure in breathing space
Grid assignment QnIt is described that there is obvious difference degree, and error rate is reduced again, it is preferred that the transverse direction of the lattice structure
Grid number is c, and longitudinal grid number of the lattice structure is e, then the spacing r between grid chooses f1/ c and f1/ e this two
Less one in a numerical value.Preferably, the f0Value is 0, the f1Value is 100, the spacing r between the grid
=5, M=3, N=3.
One of preferred embodiment as the present embodiment, is limited with the accessible region of robot on map and sets tool
There are the M rows around the grid of barrier and N to be classified as breathing space, in order to ensure the harmony of breathing space assignment, reduce because of assignment time
The error that sequence different band is come, the present invention is by positive sequence and the two different directions of inverted order to every in each expansion area
One grid carries out assignment, when the positive sequence traversal assignment of the same grid in expansion area is different with inverted order traversal assignment, takes
Assignment of the bigger numerical as grid.
Positive sequence travels through the assignment mode that assignment and inverted order traversal assignment are combined, and assignment grid are treated when solving single assignment
The grid with barrier is closed in the upper and lower or left and right of lattice, can not correctly judge in assignment procedure away from treating assignment grid most
The near grid with barrier apart from the problem of, and judge distance treat the nearest barrier calculation amount of assignment grid compared with
The problem of big.
The setting of positive sequence and inverted order can have multiple combinations, its object is to from left to right, from right to left, from top to bottom,
From top to bottom, assignment is carried out to each grid of breathing space from opposite direction.Preferably, the direction of positive sequence is from left
And it is right, it is from bottom to top, identical with coordinate series；The direction of inverted order is left from the right side, from top to bottom.Wherein M, N are positive integer.
Preferably, the lattice structure is equidistant grid structure, that is, each grid is equal.
Preferably, positive sequence travels through lattice structure and carries out assignment, the grid knot to the grid in each expansion area
Structure is equidistant grid structure, first by positioned at the grid bottom right being traversed, just under, in four grids on upper left and right side extremely
The grid that distance values corresponding with the grid being traversed that the assignment of few one of grid subtracts it are traversed with being calculated
Preassignment, take positive sequence assignment of the preassignment as the grid being traversed of maximum；To treat assignment grid R0Exemplified by, positioned at R0It is right
Side, lower right side, just under, the grid of lower left side be respectively grid R1、R2、R3、R4, the length of side of grid is r, grid R1、R2、R3、R4
Assignment be Q respectively1、Q2、 Q3、Q4.Grid R1、R2、R3、R4Apart from grid R0Distance be respectively r,r、Then treat
Assignment grid R0Relative to grid R1、R2、R3、R4Preassignment be Q respectively1-r、Q3-r、From above-mentioned 5
It is positive sequence assignment that greatest measure is taken in a preassignment.
Inverted order travels through lattice structure and to during progress assignment, the lattice structure is equidistant grid in each expansion area
Lattice structure, first by least one of which grid in the grid left side, upper left, just upper, upper right four grids being traversed
The preassignment for the grid that distance values corresponding with the grid being traversed that the assignment of lattice subtracts it are traversed with being calculated, takes
Inverted order assignment of the maximum preassignment as the grid being traversed.To treat assignment grid R0Exemplified by, positioned at R0Left side, upper left, just
The upper, grid of upper right is respectively grid R1、R2、R3、R4, the length of side of grid is r, grid R1、R2、R3、R4Assignment be Q respectively1、
Q2、Q3、Q4.Grid R1、R2、 R3、R4Apart from grid R0Distance be respectively r,r、Then treat assignment grid R0Relative to
Grid R1、R2、R3、R4Preassignment be Q respectively1-r、Q3-r、Taken most from above-mentioned 5 preassignments
Big numerical value travels through assignment for inverted order.Greatest measure conduct in positive sequence traversal assignment and inverted order traversal assignment is taken to be traversed grid
Inverted order assignment.For its assignment of the grid for treating assignment Q0For that number larger in positive sequence assignment and inverted order assignment
Value.
Calculated for the ease of the numerical integration of particle, establish coordinate system on the map of the present invention first afterwards, then particle
Corresponding position coordinates P isIn with the coordinate system of the artificial origin of machine, laser radar sensor
The location expression of laser spots position is [xl yl]T, coordinate system is established on map, laser spots position is brought into map
In coordinate system, then laser spots position in map coordinates system is described as [xv yv]T, according to equation below：Wherein,For the direction of particle and the X-axis of map coordinates system
Angle, T are that the describing mode of coordinate position is changed, and calculate the laser spots position corresponding to each particle and grid are corresponded on map
The assignment of the position of lattice is integrated and compared.Certainly,Including but not limited to the direction and the X of map coordinates system for particle
The angle of the angle of axis or the Y-axis of the direction of particle and map coordinates system, calculation formula will be done repaiies accordingly
Change.
In order to further accurately be positioned to robot, present invention additionally comprises：
Step 5, near the optimal particle finally filtered out, redistribute particle；Preferably, the particle of redistribution
Can specifically it be adjusted on direction and density.
Step 6, be at least repeated once the particle in step 5 step 1 and arrive step 4.
The setting of the step 5 and step 6, on the basis of step 4, further carries out essence to the position of robot
Certainly position, relative to the random screening alignments of the prior art, more quickness and high efficiency, saves a large amount of calculating times, reduces
The computational load of CPU.Operation that can repeatedly between step 1 and step 4 to the particle in step 5 in step 6.
Embodiment 2
As different from Example 1, the branch mode of the preferred particle is as follows：
Step 3.1, a first preferred particle J whereiniSurrounding's random distribution have and multiple be used for dummy robot position
Branchpoint, take one of branchpoint SiOccasional frame is established for random coordinates origin, using the branchpoint as origin
Direction is occasional frame X-direction or Y direction, the grid occupied around the random coordinates origin by barrier
Coordinate position redescribed in occasional frame；When it is implemented, can also be as the direction of the branchpoint of origin
For occasional frame Y direction, its corresponding calculation formula adaptation, repeats no more.
Step 3.2, by step 3.1 with preferred particle JiCorresponding all branchpoints, random coordinates and described random
The coordinate position of the grid occupied around coordinate origin by barrier keeps former distributed architecture to copy to other preferred particles successively
Around, and keep the distributed architecture all same of preferred particle and corresponding multiple branchpoints, each preferred particle according to
The coordinate position of the grid occupied around its random coordinates origin by barrier numerical value of corresponding grid in map is accumulated
Divide and contrast, find the branchpoint of otherness maximum as target point.The branchpoint of the otherness maximum determines, by weight
The process of new definition is converted to by the comparison of blindness and finds out otherness maximum region.It is and again right in the region of otherness maximum
Preferred particle is verified, calculation amount and verification number is greatly reduced.
Step 3.3, the position according to target point and with the preferred particle corresponding to target point, determine corresponding with target point
Preferred particle to target point path planning, driving robot according to path planning reach simulated target point, pass through robot
Laser radar sensor measured in the range of set angle to around draw second distance data and with second distance number
According to corresponding second angle data, range data and corresponding angle-data are marked out using target point as coordinate origin, into
For second laser point position；The assignment integration for being under the jurisdiction of grid residing for the second laser point position of different preferred particles is calculated, reaches and sets
The preferred particle for determining second threshold requirement is contemplated as falling within the convergence region of robot, can be the preferred grain more than second threshold
The coincidence factor of its sub laser spots position and the grid with barrier is higher or preferred particle less than second threshold its
Laser spots position and with barrier grid coincidence factor it is higher, in general, postsearch screening go out its laser spots position with barrier
Hinder the higher preferred particle of the coincidence factor of the grid of thing.Reach the quantity of further convergence preferred particle, until filtering out one
The purpose of a optimal particle.
In order to further speed up the convergent speed of particle, the clearly lower and otherness of particle localization is improved, in step 3.1,
Preferred particle JiIt is highest in the assignment integration of grid for corresponding laser spots position inside all preferred particles.
In order to further speed up the convergent speed of particle, the accuracy and directionality of particle localization are improved, in step 3.2
Further include preferred particle JiEach branchpoint corresponding to laser spots position where the numerical value of grid integrated, according to
Integrated value filters out an optimal branchpoint, using the optimal branchpoint filtered out as origin, establishes occasional frame, it is described most
The pointing direction of excellent branchpoint is the X-direction of occasional frame.Optimal branchpoint to filter out is used as random coordinates origin
Method, the otherness of target point selection is improved, easy to quickly select the target point of otherness maximum.Improve screening
Efficiency.When it is implemented, the pointing direction of the optimal branchpoint is the Y direction of occasional frame, it is only necessary to public to calculating
Formula carries out adaptation, repeats no more.
Calculated for the ease of the numerical integration of particle, branchpoint S of the present invention to chooseiFor occasional frame origin, turn
Move point SiThe angle of the X-direction of direction and map coordinates system isThen the random coordinates origin is with respect to map reference
System is described asThe random coordinates origin SiGrid coordinate [the x that surrounding is occupiedo yo]TRandom
Tracing as [x under coordinate systemso yso]T, therefore, the grid coordinate being occupied around the random coordinates origin is in map reference
System under trace for
Present invention also offers a kind of robot, including robot body and the laser thunder on robot body
Up to sensor, the robot body is positioned using the robot autonomous global method for relocating.
In conclusion by map rasterizing and to the grid with barrier and the grid without barrier into
Row difference assignment, it is quick to calculate present laser radar sensor information and electricity by location expression of the laser spots position in map
The matching degree of sub- map, carries out the particle in particle filter algorithm quick and accurately screens, shifted by calculating state
The assessment of matching difference afterwards, finds and diverts the aim a little, accelerates particle convergence rate, robot is in known map environment
In fast and accurately obtain the positional information of itself, that is, solve robot abduction issue.
Above in association with the specific embodiment technical principle that the invention has been described.These descriptions are intended merely to explain the present invention
Principle, and limiting the scope of the invention cannot be construed in any way.Based on explanation herein, this area
Technical staff would not require any inventive effort the other embodiments that can associate the present invention, these modes are all
It will fall under the scope of the present invention.
Claims (15)
1. a kind of robot autonomous global method for relocating, it is characterised in that by existing map rasterizing and to barrier
Grid and carry out difference assignment without the grid of barrier, by with the laser radar sensor of robot same position to outside
The multiple range data and angle-data corresponding with range data that barrier scanning is drawn, with dummy robot position in map
It is set to origin to mark out in the form of laser spots position, to grid where the laser spots position corresponding to each dummy robot position
Assignment integration, according to the coincidence factor of grid where the laser spots position and the grid with barrier, filter out at least one
Dummy robot position, and robot is calculated from the dummy robot position filtered out for the first time by particle filter algorithm
Correct position.
2. robot autonomous global method for relocating according to claim 1, it is characterised in that include the following steps：
Step 1, will cover lattice structure on existing map, and same corresponding numerical value f is initialized to each grid0, and by ground
The grid for having barrier on figure is assigned a value of f1, the grid in the setpoint distance of barrier is nearest away from it according to its distance
The distance of grid is assigned a value of Q where barriern；QnNumerical value occupy f0And f1Between, its Q of the grid nearer apart from barriern's
Numerical value is closer to f1, the particle of random distribution setting density in clear grid on the map, the particle to
The position of dummy robot；
Step 2, measured by laser radar sensor robot in the range of set angle it is multiple apart from number away from and with away from
Angle-data corresponding from data, and by it is multiple apart from number away from and corresponding angle-data be converted to the artificial coordinate origin of machine
Multiple laser spots positions；The positional information of corresponding each particle describes each particle again on the map after rasterizing corresponding
The positional information of laser spots position；The assignment integration of grid where calculating the laser spots position corresponding to each particle, and according to setting
First threshold filter out at least one preferred particle；
Step 3, shifted by the preferred particle to filtering out according to the transfer path of setting, and to each excellent after transfer
The assignment of the grid where the laser spots position corresponding to particle is selected to be integrated, further will be multiple according to the second threshold of setting
The part preferred particle for reaching the second threshold requirement of setting in preferred particle screens；
Step 4, repeat step 3, finally filter out where only one preferred particle indicates robot as optimal particle
Position.
3. robot autonomous global method for relocating according to claim 2, it is characterised in that the grid is equidistant grid
Lattice, on map with the accessible region of robot be limited setting with barrier grid around M rows and N row for expansion
Area, the assignment Qn=f of the grid in the breathing space1-dn, wherein dnIt is the distance for treating assignment grid and its nearest neighbours grid, when
Treat that assignment grid and the horizontal row difference of grid where the barrier away from its nearest neighbours are an, longitudinal vertical difference is bn, then assignment is treated
Grid and the distance away from the grid where the barrier of its nearest neighboursWherein M, N is positive integer, anAnd bnFor just
Number, f0＜ Qn＜ f1。
4. robot autonomous global method for relocating according to claim 3, it is characterised in that the f0＜ ＜ f1, to carry
The difference degree of high assignment integration.
5. robot autonomous global method for relocating according to claim 2, it is characterised in that the horizontal stroke of the lattice structure
It is c to grid number, longitudinal grid number of the lattice structure is e, then the spacing r between grid chooses f1/ c and f1/ e this
Less one in two values.
6. robot autonomous global method for relocating according to claim 4, it is characterised in that the f0Value is 0, institute
State f1Value is 100.
7. robot autonomous global method for relocating according to claim 2, it is characterised in that with robot on map
Accessible region is limited M rows around grid of the setting with barrier and N is classified as breathing space, by positive sequence and inverted order this two
A different direction in each expansion area each grid carry out assignment, when the same grid in expansion area just
When sequence travels through assignment and inverted order traversal assignment difference, assignment of the bigger numerical as grid is taken, wherein M, N is positive integer.
8. robot autonomous global method for relocating according to claim 7, it is characterised in that positive sequence travels through lattice structure
And assignment is carried out to the grid in each expansion area, first by positioned at the grid bottom right being traversed, just under, upper left and right side
Four grids at least one of which grid the assignment distance values corresponding with the grid being traversed that subtract it to calculate
Draw the preassignment for the grid being traversed, take positive sequence assignment of the preassignment of maximum as the grid being traversed；
Inverted order travels through lattice structure and to carrying out assignment in each expansion area, first by the left of the grid being traversed,
Upper left, that the assignment of at least one of which grid in just upper, upper right four grids subtracts it is corresponding with the grid being traversed
The preassignment for the grid that distance values are traversed with being calculated, takes the preassignment of maximum to be assigned as the inverted order for the grid being traversed
Value.
9. robot autonomous global method for relocating according to claim 2, it is characterised in that with the artificial origin of machine
In coordinate system, the location expression of the laser spots position of laser radar sensor is [xl yl]T, coordinate system is established on map, then grain
Position coordinates P corresponding to son isLaser spots position is brought into map coordinates system, then in map coordinates system
In laser spots positions be described as [xv yv]T, according to equation below：Its
In,For particle direction and map coordinates system X-axis angle, T is that the describing mode of coordinate position is changed, and is calculated every
The assignment for the position that laser spots position corresponding to one particle corresponds to grid on map is integrated and compared.
10. according to the robot autonomous global method for relocating of claim 2-9 any one of them, it is characterised in that step 3
Further include：
Step 3.1, a first preferred particle J whereiniSurrounding's random distribution have multiple transfers for dummy robot position
Point, takes one of branchpoint SiOccasional frame is established for random coordinates origin, using the direction side of the branchpoint as origin
To for occasional frame X-direction or Y direction, the coordinate bit of the grid occupied around the random coordinates origin by barrier
Put and redescribed in occasional frame；
Step 3.2, by step 3.1 with preferred particle JiCorresponding all branchpoints, random coordinates and the random coordinates are former
The coordinate position of the grid occupied around point by barrier keeps former distributed architecture to copy to successively around other preferred particles,
And the distributed architecture all same of each preferred particle and corresponding multiple branchpoints is kept, each preferred particle is according to it
The coordinate position of the grid occupied around random coordinates origin by barrier numerical value of corresponding grid in map is integrated
And contrast, the branchpoint of otherness maximum is found as target point；
Step 3.3, the position according to target point and with the preferred particle corresponding to target point, determine corresponding with target point preferred
Particle drives robot to reach simulated target point according to path planning, passes through the laser of robot to the path planning of target point
Radar sensor is measured to around in the range of set angle draws second distance data and corresponding with second distance data
Second angle data, range data and corresponding angle-data are marked out using target point as coordinate origin, become second
Laser spots position；The assignment integration for being under the jurisdiction of grid residing for the second laser point position of different preferred particles is calculated, reaches setting second
The preferred particle of threshold requirement is contemplated as falling within the convergence region of robot.
11. robot autonomous global method for relocating according to claim 10, it is characterised in that in step 3.1, preferably
Particle JiIt is highest in the integration of the assignment of grid for corresponding laser spots position inside all preferred particles.
12. robot autonomous global method for relocating according to claim 10, it is characterised in that also wrapped in step 3.2
Include and integrated the numerical value of grid where the laser spots position corresponding to each branchpoint of one of preferred particle, according to
Integrated value filters out an optimal branchpoint, using the optimal branchpoint filtered out as origin, establishes occasional frame, described optimal
The pointing direction of branchpoint is the X-direction or Y direction of occasional frame.
13. robot autonomous global method for relocating according to claim 10, it is characterised in that with the branchpoint chosen
SiFor occasional frame origin, branchpoint SiThe angle of the X-direction of direction and map coordinates system isIt is then described random
Coordinate origin is described as with respect to map coordinates systemThe random coordinates origin SiThe grid that surrounding is occupied
Lattice coordinate [xo yo]TTracing as [x under occasional frameso yso]T, therefore, it is occupied around the random coordinates origin
Grid coordinate under map coordinates system trace for
14. according to the robot autonomous global method for relocating of claim 2-9 any one of them, it is characterised in that further include：
Step 5, near the optimal particle finally filtered out, redistribute particle；
Step 6, be at least repeated once the particle in step 5 step 1 and arrive step 4.
A kind of 15. robot, it is characterised in that the laser radar sensing including robot body and on robot body
Device, the robot body use the robot autonomous global method for relocating of claim 1-14 any one of them such as to be determined
Position.
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| CN112904367A (en) * | 2021-03-19 | 2021-06-04 | 北京小狗吸尘器集团股份有限公司 | Position scoring method and device applied to relocation of sweeper and electronic equipment |
| CN112904367B (en) * | 2021-03-19 | 2023-03-14 | 北京小狗吸尘器集团股份有限公司 | Position scoring method and device applied to relocation of sweeper and electronic equipment |
| CN113419249A (en) * | 2021-06-18 | 2021-09-21 | 珠海市一微半导体有限公司 | Repositioning method, chip and mobile robot |
| CN115235479B (en) * | 2022-09-23 | 2022-12-06 | 江西省智能产业技术创新研究院 | Positioning method and device of automatic guided vehicle, readable storage medium and electronic equipment |
| CN115235479A (en) * | 2022-09-23 | 2022-10-25 | 江西省智能产业技术创新研究院 | Positioning method and device of automatic guided vehicle, readable storage medium and electronic equipment |
| CN115574803A (en) * | 2022-11-16 | 2023-01-06 | 深圳市信润富联数字科技有限公司 | Moving route determining method, device, equipment and storage medium |
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