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Invention Publication
CN106574836A 用于在定位平面中定位机器人的方法 无效 - 撤回

用于在定位平面中定位机器人的方法
Abstract:
本发明涉一种用于在与具有x和y两个轴的二维参考相关联的定位平面中定位机器人的方法，所述方法包括以下步骤：通过测距来确定(200)机器人的坐标x1和y1的估计以及机器人的取向Θ1的估计；通过使用虚拟罗盘来确定(202)机器人的取向的估计Θ2；通过使参考全景的部分与查询全景的部分相关来确定(204)机器人的取向的估计Θ3；通过使用迭代最近点技术来确定(206)机器人位置的估计x4、y4；确定前述估计的标准偏差σ_x1、σ_x2、σ_θ1、σ_θ2、σ_θ3、σ_x4、σ_y4；使用所述标准偏差来确定(220)每种可用的估计的概率分布G(x1)、G(y1)、G(Θ1)、G(Θ2)、G(Θ3)、G(x4)和G(y4)；确定(221)三个全局分布GLOB(x)、GLOB(y)和GLOB(Θ)并且通过将最大似然应用于全局分布来确定定位平面中的机器人的坐标的全局估计xg、yg以及机器人的取向的全局估计Θg。
Abstract(English):

The invention concerns a method for localizing a robot in a localization plane associated with a bi-dimensional reference with two axis x and y comprising the following steps: determining (200) by odometry an estimation of the coordinates x1 and y1 of the robot as well as an estimation of its orientation [theta]1; determining (202) an estimation [theta]2 of the orientation of the robot by using a virtual compass; determining (204) an estimation [theta]3 of the orientation of the robot by correlating parts of a reference panorama with parts of a query panorama; determining (206) an estimation x4, y4 of the robot position by using an Iterative Closest Points technique; determining the standard deviations [sigma]_x1, [sigma]_x2, [sigma]_[theta]1 [sigma]_[theta]2, [sigma]_[theta]3, [sigma]_x4, [sigma]_y4 of the aforementioned estimations; determining (220) probability distributions G(x1), G(y1), G([theta]1), G([theta]2), G([theta]3), G(x4) and G(y4) of each available estimation using said standard deviations; determining (221) three global distributions GLOB(x), GLOB(y) and GLOB([theta]) and determining a global estimation xg, yg of the coordinates of the robot in the localization plane as well as an global estimation [theta]g of its orientation by applying maximum likelihood to the global distributions.

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