MX2016013023A - Método para localizar un robot en un plano de localización. - Google Patents

Método para localizar un robot en un plano de localización.

Info

Publication number
MX2016013023A
MX2016013023A MX2016013023A MX2016013023A MX2016013023A MX 2016013023 A MX2016013023 A MX 2016013023A MX 2016013023 A MX2016013023 A MX 2016013023A MX 2016013023 A MX2016013023 A MX 2016013023A MX 2016013023 A MX2016013023 A MX 2016013023A
Authority
MX
Mexico
Prior art keywords
determining
estimation
robot
orientation
global
Prior art date
Application number
MX2016013023A
Other languages
English (en)
Inventor
Wirbel Emilie
De La Fortelle Arnaud
Original Assignee
Softbank Robotics Europe
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Softbank Robotics Europe filed Critical Softbank Robotics Europe
Publication of MX2016013023A publication Critical patent/MX2016013023A/es

Links

Classifications

    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Analysis (AREA)
  • Numerical Control (AREA)
  • Navigation (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La invención se refiere a un método para localizar un robot en un plano de localización asociado a una referencia bidimensional con dos ejes x e y que comprende las siguientes etapas: determinar (200) mediante odometría una estimación de las coordenadas x1 e y 1 del robot así como una estimación de su orientación ?1; determinar (202) una estimación ?2 de la orientación del robot usando un brújula virtual; determinar (204) una estimación ?3 de la orientación del robot correlacionando partes de un panorama de referencia con partes de un panorama de consulta; determinar (206) una estimación x4, y4 de la posición del robot usando una técnica de puntos iterativos más cercanos; determinar las desviaciones estándar ?_x1, ?_x2, ?_?1, ?_?2, ?_?3, ?_x4, ?_y4 de las estimaciones anteriormente mencionadas; determinar (220) las distribuciones de probabilidad G(x1), G(y1), G(?1), G(?2), G(?3), G(x4) y G(y4) de cada estimación disponible usando dichas desviaciones estándar; determinar (221) tres distribuciones globales GLOB(x), GLOB(y), y GLOB(?) y determinar una estimación global xg, yg de las coordenadas del robot en el plano de localización así como una estimación global ?g de su orientación aplicando máxima verosimilitud a las distribuciones globales.
MX2016013023A 2014-04-14 2015-04-14 Método para localizar un robot en un plano de localización. MX2016013023A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305543.2A EP2933604B1 (en) 2014-04-14 2014-04-14 A method for localizing a robot in a localization plane
PCT/EP2015/058011 WO2015158682A1 (en) 2014-04-14 2015-04-14 A method for localizing a robot in a localization plane

Publications (1)

Publication Number Publication Date
MX2016013023A true MX2016013023A (es) 2017-05-30

Family

ID=51178823

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016013023A MX2016013023A (es) 2014-04-14 2015-04-14 Método para localizar un robot en un plano de localización.

Country Status (14)

Country Link
US (1) US10197399B2 (es)
EP (1) EP2933604B1 (es)
JP (1) JP6374984B2 (es)
KR (1) KR101901042B1 (es)
CN (1) CN106574836A (es)
AU (1) AU2015248967B2 (es)
CA (1) CA2945860C (es)
DK (1) DK2933604T3 (es)
ES (1) ES2617307T3 (es)
MX (1) MX2016013023A (es)
NZ (1) NZ725015A (es)
RU (1) RU2662913C2 (es)
SG (1) SG11201608198PA (es)
WO (1) WO2015158682A1 (es)

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EP2952993B1 (en) 2014-06-05 2018-04-25 Softbank Robotics Europe Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot
WO2016171119A1 (ja) * 2015-04-21 2016-10-27 芝浦メカトロニクス株式会社 錠剤印刷装置及び錠剤印刷方法
FR3051383B1 (fr) * 2016-05-23 2020-02-14 Softbank Robotics Europe Robot mobile maitre motorise
US10427305B2 (en) * 2016-07-21 2019-10-01 Autodesk, Inc. Robotic camera control via motion capture
CN109141437B (zh) * 2018-09-30 2021-11-26 中国科学院合肥物质科学研究院 一种机器人全局重定位方法
US11747825B2 (en) * 2018-10-12 2023-09-05 Boston Dynamics, Inc. Autonomous map traversal with waypoint matching
CN109916431B (zh) * 2019-04-12 2021-01-29 成都天富若博特科技有限责任公司 一种针对四轮移动机器人的车轮编码器标定算法
JP2022542807A (ja) 2019-08-06 2022-10-07 ボストン ダイナミクス，インコーポレイテッド 中間ウェイポイント生成器
US11577395B2 (en) 2020-02-17 2023-02-14 Toyota Research Institute, Inc. Systems for determining location using robots with deformable sensors
CN112004183B (zh) * 2020-07-08 2022-05-31 武汉科技大学 一种基于卷积神经网络融合IMU和WiFi信息的机器人自主定位方法

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JPH0953939A (ja) * 1995-08-18 1997-02-25 Fujitsu Ltd 自走車の自己位置測定装置および自己位置測定方法
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US7689321B2 (en) * 2004-02-13 2010-03-30 Evolution Robotics, Inc. Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system
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JP2008084135A (ja) * 2006-09-28 2008-04-10 Toshiba Corp 移動制御方法、移動ロボットおよび移動制御プログラム
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Also Published As

Publication number Publication date
NZ725015A (en) 2017-11-24
RU2662913C2 (ru) 2018-07-31
US10197399B2 (en) 2019-02-05
JP2017514124A (ja) 2017-06-01
EP2933604A1 (en) 2015-10-21
CN106574836A (zh) 2017-04-19
DK2933604T3 (en) 2017-03-13
SG11201608198PA (en) 2016-10-28
CA2945860C (en) 2018-01-23
KR20170023782A (ko) 2017-03-06
RU2016143549A (ru) 2018-05-14
ES2617307T3 (es) 2017-06-16
JP6374984B2 (ja) 2018-08-15
RU2016143549A3 (es) 2018-05-14
CA2945860A1 (en) 2015-10-22
AU2015248967B2 (en) 2018-03-29
AU2015248967A1 (en) 2016-10-27
EP2933604B1 (en) 2016-11-30
WO2015158682A1 (en) 2015-10-22
US20170131102A1 (en) 2017-05-11
KR101901042B1 (ko) 2018-09-20

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