CN109341688A - A kind of map calling location algorithm based on construction sequence - Google Patents
A kind of map calling location algorithm based on construction sequence Download PDFInfo
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- CN109341688A CN109341688A CN201811029445.7A CN201811029445A CN109341688A CN 109341688 A CN109341688 A CN 109341688A CN 201811029445 A CN201811029445 A CN 201811029445A CN 109341688 A CN109341688 A CN 109341688A
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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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a kind of, and the map based on construction sequence calls algorithm, step are as follows: laser radar acquires environmental data, the world coordinates being converted under Descartes system；Carrying out area dividing, line segment segmentation and line segment according to world coordinates indicates, creates local map；It finds adjacent local map and obtains related line segment, position the posture information of crusing robot；It is counted according to location information, planning path and mileage, judges whether to reach local map edge, when reaching local map edge, called next local map, execute patrol task.The present invention reduces environmental information amounts needed for pose estimation, improve the efficiency of pose estimation；And it once only needs to merge two sub- maps, improves the Efficiency and accuracy of fusion.
Description
Technical field
The invention belongs to robot fields, are related to a kind of map calling location algorithm based on construction sequence.
Background technique
Mobile robot (Robot) is the automatic installations for executing work, can not only receive mankind commander, but also can transport
The program of the preparatory layout of row, the principle program action that can also be formulated according to artificial intelligence technology.This pole of substation in mountain area
Mobile robot can be put under end ring border, on long terms, can save human cost, mobile robot using mobile robot
Systematic research causes domestic and foreign scholars and more and more payes attention to.
Robot, which wants to realize, to be explored and navigates in circumstances not known, needs first to complete synchronous positioning and map building.Existing skill
Art is mostly to create smaller or medium scale environmental map, then positioned.However, with the continuous expansion of environment scale,
Localization method based on smaller or medium-scale environmental map precision, robustness and in terms of performance it is poor.
Summary of the invention
Technical problem solved by the invention is to provide a kind of map calling location algorithm based on construction sequence, improve
Precision, efficiency and the robustness to environment of positioning.
The technical solution for realizing the aim of the invention is as follows: a kind of map calling algorithm based on construction sequence, including such as
Lower step:
Step 1, acquisition environmental data: laser radar acquires environmental data, the world coordinates being converted under Descartes system；
Step 2, creation local map: carrying out area dividing, line segment segmentation and line segment according to world coordinates indicates, creation office
Portion's map；
Step 3, positioning robot: it finds adjacent local map and obtains related line segment, position the posture information of crusing robot；
Step 4, invocation map: counting according to location information, planning path and mileage, judges whether to reach local map
Edge calls next local map when reaching local map edge, executes patrol task.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention is under laser radar coordinate system, by environment number
It is barrier according to cluster, overall situation and partial situation's centre coordinate feature of Use barriers object estimates the pose of robot, reduces position
Environmental information amount needed for appearance estimation, improves the efficiency of pose estimation；2) present invention once only needs to merge two sub- maps,
Improve the Efficiency and accuracy of fusion；3) range data point is directly used to carry out Corresponding matching, this algorithm meter compared to ICP algorithm
Calculation amount is smaller, and convergence rate is very fast.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts that the map of construction sequence calls location algorithm.
Fig. 2 is the raw-data map that laser radar obtains in the present invention.
Fig. 3 is the local map that the present invention is indicated by area dividing, line segment segmentation and line segment.
Fig. 4 is the schematic diagram of middle line segment limit of the present invention.
Specific embodiment
The present invention program is further illustrated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, the map based on construction sequence calls location algorithm, include the following steps:
Step 1, acquisition environmental data
Laser radar LMS511 acquires environmental data, specifically carries out 180 degree scanning from left to right, is spaced 0.5 degree, acquisition is each
The relative position of a point and scanner, and local coordinate is indicated with the polar coordinate system that laser radar center is pole.
For the convenience of processing, the world coordinates that these is converted into the data of polar coordinate representation under Descartes system:
In formula, diIt is the polar coordinate system data that laser radar obtains, (Xl,Yl,αl) it is laser radar center in map
Coordinate, XlIt is abscissa of the laser radar in map, YlIt is ordinate of the laser radar again in map, αlIt is laser radar master
The angle of axis and X-axis, the collected raw-data map of laser radar are as shown in Figure 2.
Step 2, creation local map
Using the method for " polymerization-segmentation-polymerization ", three steps are indicated by area dividing, line segment segmentation and line segment, it will
The processing data information of the collected discrete point of laser radar completes the wound of local map at the line segment for being used to indicate environmental information
It builds, specifically:
Step 2.1, area dividing
It is converted before by coordinate, the cartesian coordinate of available 361 discrete points, this 361 points are a region,
Starting point is first point from left to right, and terminal is the 361st point, carries out area dividing, step according to the distance of continuous point-to-point transmission
It is as follows:
Step 2.1.1, the distance between continuous two points D is calculatedj, formula is as follows:
If DjGreater than preset threshold value δ, then it is assumed that the two points are discontinuous, are cut-point by area using the latter
Domain is divided into two pieces.In order to obtain more accurate piecemeal effect, using the method for dynamic threshold come piecemeal, such as scanning element is to swashing
The distance at optical radar center is less than D, and the threshold value of selection is δ, if distance is, greater than D and less than 2D, the threshold value of selection is 2 δ.
Step 2.1.2, judge the number of the scanning element in each region, if each region includes the number of point less than 3,
The region is considered as noise region, gives up these noise spots.
Step 2.2, line segment segmentation
By area dividing, obtain that the region B that line segment indicates can be usedi(i=1,2 ... N), these regions can be by one
Item or a plurality of line segment indicate, carry out linear partition to these regions, obtain the linear zone that can be indicated with a line segment
Domain, steps are as follows:
Step 2.2.1, in region unit BiIn, with first point Ps(Xs,Ys) and the last one point PE(Xe,Ye) make one directly
Line L calculates remaining each point to the distance of this straight line, selects apart from a maximum point, if this distance is greater than threshold alpha, with
This block region is divided into two parts for cut-point by corresponding point, and the same method using dynamic threshold carries out linear partition, threshold alpha
It is chosen as the 1/10 of straight length L；
Step 2.2.2, step 2.2.1, the available M linear region L that can be indicated with a line segment are repeatedi(i=
1,2 ... M), wherein M is not more than J.
Step 2.3, line segment indicate
By step 2.1 and 2.2,361 points scanned are divided into J area dividing and M linear region, need
A line segment is constructed farthest to describe the linear relationship between these points.Assuming that linear region LiThe scanning element contained
Number be N, with W (W1,W2…WN-1) indicate weight vector, if the distance of adjacent point-to-point transmission is σi,i+1, starting point to termination
The length of point is L, then Wi=(σi-1,i+σi+1,i)/2L, region L available in this wayiWeight vector W (W1,W2…WN-1).It is logical
Following five parameter characterization line segment is crossed to get the local map of description linear region:
(1) weight center: Pm(mx,my), wherein
(2) covariance matrix:Wherein (xi,yi) it is scanning element in linear region
Coordinate；
(3) angle between line segment and X-axis: θ=0.5*arctan (2 μ01/(μ00-μ11))；
(4) length of line segment: Li=| dx/ cos θ |, wherein dx=Xs-Xe；
(5) beginning and end of line segment:
(xs,ys)=(mx-Licosθ/2,my-Lisinθ/2)
(xe,ye)=(mx+Licosθ/2,my+Lisinθ/2)。
Indicate that three steps translate into local map (continuous line segment) by area dividing, line segment segmentation and line segment,
Local map is as shown in Figure 3.
Step 3, invocation map
After the sub- map structure in part is good, crusing robot passes through oneself available pose of own system, and robot is just
Patrol task can be carried out respectively in each sub- map.Since robot is to carry out task, robot according to certain path
Equipped with odometer (how many distance of having walked can be calculated), when walking set apart from when, machine can judge that it arrived map
Edge, to call the next sub- map in part.To make robot inspection in next map, we must be known by machine
The accurate pose of people at this time.
Assuming that the sub- map in the part being currently located is A, it is global map that next map, which is the fused map of B, A and B,
Identical environment is certainly existed between map A and map B, therefore the line segment obtained to the scanning of identical environment should be overlapped
, there are error, line segment can not be completely coincident the pose obtained due to robot hardware's system, and such line segment is exactly related
Line segment.The accurate pose of robot can be determined in map B as long as finding these related line segments as long as us, specifically:
Step 3.1 determines line segment range
During searching map A line segment related to map B, in order to reduce the line segment quantity of inspection, " line segment is proposed
The method of range ".As shown in figure 4, LGFor a line segment in global map, with LGTwo endpoints and laser radar center be
Fixed point one range R of delineation, for given range R, the line segment in local map can be divided into following four situation:
(1) two endpoints of line segment are all outside R and with R without friendship；
(2) two endpoints of line segment are all inside R；
(3) endpoint of line segment is inside R, and an endpoint is outside R；
(4) there are two intersection points all outside R and with R for two endpoints of line segment.
When finding related line segment, these line segments (such as line segment 2,3,4) within the scope of Zone R domain, " line segment model are only considered
Enclose " it shortens and finds the time that related line segment expends.Take out a line segment L of global mapG, according to the side of " line segment range "
Method obtains qualified line segment in local map, if it does not exist, then taking out the line segment of next global map, counts again
It calculates, until finding qualified line segment LCOr until taking all global line segments.
Whether the line segment in step 3.2, local map is related to the line segment in global map
Two conditions of dependence test:
Δ θ=| θL-θG|<δθ, wherein θLIt is the angle of local map middle conductor and X-axis, θGIt is global map middle conductor LG
With the angle of X-axis, δθIt is a threshold value；
Line segment LCCenter of gravity to line segment LGVertical range DLLess than one threshold value δL, i.e. D1=| (mGY-mLY)cosθG-
(mGX-mLX)sinθG|<δL, wherein (mGX, mGY) it is line segment LGCenter of gravity, (mLX, mLY) be line segment L center of gravity.
If meeting two above condition, this two lines section is relevant.From the office for meeting two above condition simultaneously
In portion's map line segment, confidence level highest, i.e. (Δ θ, D are selected1) the smallest as line segment LGRelated line segment；Repeat correlated judgment
Step finds out all relevant line segments pair, and (the Δ θ, D of every a pair of of relation line section is calculated1)。
Step 3.4, positioning robot
The error as existing for robot hardware's system, the pose that own system obtains is inaccurate, therefore we want
The accurate positioning that robot is completed according to the related line segment acquired obtains new pose.It is obtained by robot own system
Robot pose (X, Y, θ), wherein (X, Y) is the coordinate of robot, θ is the angle of robot and X-axis, in conjunction with the phase acquired
It closes line segment and calculates new pose, comprising:
New angle:
θ'1=θ+θG-θL；
LCNew center of gravity (mLX', mLY'):
Then new center of gravity is to line segment LGDistance are as follows:
DL=(mGY-mLY')cosθG-(mGX-mLX')sinθG
New pose (the X' of robot1,Y'1,θ'1) are as follows:
X'1=X+DLcosθ'1,Y'1=Y+DLsinθ'1；
Other three pairs related line segments are arbitrarily chosen, new pose is calculated, the new pose of four groups of robots is always obtained in this way
(Xi,Yi,θi), wherein i=1,2,3,4.The accurate pose of robot is determined using least squares method, so that this four groups of new poses
Quadratic sum to the error of accurate pose is minimum, that is, meets condition:
Wherein, (X', Y', θ ') is exactly the accurate pose of robot.
Step 3.5, invocation map
Since robot is to carry out patrol task according to specific path, when robot ambulation certain distance and lead to
It crosses after odometer knows the edge for reaching map A and starts invocation map B, by positioning step before it is understood that machine
The accurate pose of people at this time, so that it may start inspection in map B, map calling later is same method, and robot arrives
When up to the map edge B, invocation map C is simultaneously accurately positioned, and accurate pose is obtained, and then can be patrolled in map C
Inspection task, and so on.
Claims (6)
1. a kind of map based on construction sequence calls algorithm, which comprises the steps of:
Step 1, acquisition environmental data: laser radar acquires environmental data, the world coordinates being converted under Descartes system；
Step 2, creation local map: carrying out area dividing, line segment segmentation and line segment according to world coordinates indicates that creation is locally
Figure；
Step 3, positioning robot: it finds adjacent local map and obtains related line segment, position the posture information of crusing robot；
Step 4, invocation map: counting according to location information, planning path and mileage, judges whether to reach local map side
Edge calls next local map when reaching local map edge, executes patrol task.
2. the map according to claim 1 based on construction sequence calls location algorithm, which is characterized in that in step 1, into
The scanning of row 180 degree, from left to right, sweep spacing is 0.5 degree to scanning mode, acquires the relative position of each point and scanner, with
Laser radar center is the polar coordinate representation of pole.
3. the map according to claim 1 based on construction sequence calls location algorithm, which is characterized in that in step 1, from
Polar coordinate system is transformed into the formula of Descartes system are as follows:
In formula, diIt is the polar coordinate system data that laser radar obtains, (Xl,Yl,αl) it is coordinate of the laser radar center in map,
XlIt is abscissa of the laser radar in map, YlIt is ordinate of the laser radar again in map, αlIt is laser radar main shaft and X
The angle of axis.
4. the map according to claim 1 based on construction sequence calls location algorithm, which is characterized in that in step 2, adopt
Local map is created with the method for " polymerization-segmentation-polymerization ", the specific steps are as follows:
Step 2.1, area dividing: the distance between continuous two points D is calculatedj, formula is as follows:
If DjGreater than preset threshold value, then it is assumed that the two point be it is discontinuous, region is divided into using the latter as cut-point
Two pieces, in order to obtain more accurate piecemeal effect, using the method for dynamic threshold come piecemeal, scanning element to laser radar center
Distance be less than D, the threshold value of selection is δ, if distance is greater than D and is less than 2D, the threshold value of selection is 2 δ；
Judge the number of the scanning element in each region, if each region includes the number of point less than 3, which is considered as making an uproar
These noise spots are given up in sound area domain, finally obtain the region B that can be indicated with one or more of line segmentsi(i=1,2 ... J)；
Step 2.2, line segment segmentation: in each area dividing Bi, with first point Ps(Xs,Ys) and the last one point PE(Xe,Ye) make
Straight line L calculates remaining each point to the distance of this straight line, a point farthest from linear distance is selected, if maximum distance
Greater than threshold alpha, region is divided into two pieces using corresponding point as cut-point, threshold alpha is selected as the 1/10 of straight length L, finally obtains
The linear region L indicated with a line segmenti(i=1,2 ... M)；
Step 2.3, linear expression: a line segment is constructed farthest to describe the linear pass between the scanning element of linear region
System, it is assumed that linear region LiThe number of the scanning element contained is N, and corresponding weight vector is W (W1,W2…WN-1), if adjacent two
Distance between point is σi,i+1, the length of starting point to terminating point is L, then Wi=(σi-1,i+σi+1,i)/2L, is joined by following five
Number characterization line segment is to get the local map for describing linear region:
(1) weight center: Pm(mx,my), wherein
(2) covariance matrix:Wherein (xi,yi) it is scanning element in linear region
Coordinate；
(3) angle between line segment and X-axis: θ=0.5*arctan (2 μ01/(μ00-μ11))；
(4) length of line segment: Li=| dx/ cos θ |, wherein dx=Xs-Xe；
(5) beginning and end of line segment:
(xs,ys)=(mx-Licosθ/2,my-Lisinθ/2)
(xe,ye)=(mx+Licosθ/2,my+Lisinθ/2)。
5. the map according to claim 1 based on construction sequence calls location algorithm, which is characterized in that false in step 3
If the sub- map in the part being currently located is A, it is global map that next map, which is the fused map of B, A and B, finds fusion ground
The step of scheming related line segment are as follows:
Firstly, determining line segment range: taking a line segment L in global mapG, with LGTwo endpoints and laser radar center be
Fixed point one range R of delineation, for given range R, the line segment in local map can be divided into following four situation:
(1) two endpoints of line segment are all outside R and with R without friendship；
(2) two endpoints of line segment are all inside R；
(3) endpoint of line segment is inside R, and an endpoint is outside R；
(4) there are two intersection points all outside R and with R for two endpoints of line segment；
The local map line segment within the scope of Zone R domain, i.e. second situation are selected, for the related line segment of subsequent searching, if not
There are qualified local map line segment, then the line segment for taking out next global map redefines line segment range, Zhi Daoxuan
To qualified local map line segment or take all global line segments；
Then, judge that the line segment in line segment and global map in local map is to meet two following conditions:
(1) Δ θ=| θL-θG|<δθ, wherein θLIt is the angle of local map middle conductor and X-axis, θGIt is global map middle conductor LGWith
The angle of X-axis, δθIt is a threshold value；
(2) line segment LCCenter of gravity to line segment LGVertical range DLLess than one threshold value δL, i.e. D1=| (mGY-mLY)cosθG-(mGX-
mLX)sinθG|<δL, wherein (mGX, mGY) it is line segment LGCenter of gravity, (mLX, mLY) it is line segment LCCenter of gravity；
From the local map line segment for meeting two above condition simultaneously, confidence level highest, i.e. (Δ θ, D are selected1) the smallest conduct
Line segment LGRelated line segment；
It repeats the above steps, finds out all relevant line segments pair, (the Δ θ, D of every a pair of of relation line section is calculated1)。
6. the map according to claim 1 based on construction sequence calls location algorithm, which is characterized in that in step 3, machine
The step of device people positions are as follows:
Firstly, obtaining robot pose (X, Y, θ) by robot own system, wherein (X, Y) is the coordinate of robot, θ is
The angle of robot and X-axis calculates new pose in conjunction with the related line segment acquired, comprising:
New angle:
θ'1=θ+θG-θL
LCNew center of gravity (mLX', mLY'):
Then, new center of gravity is calculated to line segment LGDistance:
DL=(mGY-mLY')cosθG-(mGX-mLX')sinθG
Then, the new pose (X' of calculating robot1,Y'1,θ'1):
X'1=X+DLcosθ'1,Y'1=Y+DLsinθ'1
Finally, arbitrarily choosing other three pairs related line segments, new pose is calculated, the new pose of four groups of robots is always obtained in this way
(Xi,Yi,θi), wherein i=1,2,3,4, the accurate pose of robot is determined using least squares method, so that this four groups of new poses
Quadratic sum to the error of accurate pose is minimum, that is, meets condition:
Wherein, (X ', Y ', θ ') is exactly the accurate pose of robot.
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