CN113465591A - Relative positioning method and system for mobile robot - Google Patents
Relative positioning method and system for mobile robot Download PDFInfo
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- CN113465591A CN113465591A CN202110742859.XA CN202110742859A CN113465591A CN 113465591 A CN113465591 A CN 113465591A CN 202110742859 A CN202110742859 A CN 202110742859A CN 113465591 A CN113465591 A CN 113465591A
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- 239000011159 matrix material Substances 0.000 claims description 6
- 238000012952 Resampling Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 2
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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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Abstract
The embodiment of the invention provides a relative positioning method and system for a mobile robot, and relates to the technical field of robot positioning. The mobile robot relative positioning method is applied to a mobile robot, the mobile robot is provided with a milemeter and a plurality of UWB sensors, and the mobile robot relative positioning method comprises the following steps: acquiring distance information of a UWB sensor on the mobile robot relative to UWB sensors on other mobile robots; calculating first relative distance attitude information of the mobile robot according to the distance information; acquiring second relative distance posture information of the mobile robot based on the odometer; and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filtering algorithm to obtain the relative positioning information of the mobile robot. The relative positioning method and the relative positioning system have the advantages of simple positioning mode, low positioning difficulty and high positioning precision.
Description
Technical Field
The invention relates to the technical field of robot positioning, in particular to a relative positioning method and system for a mobile robot.
Background
The mobile robot is a mobile platform, and mobility is the basic function of the mobile robot. The positioning function of the mobile robot is one of the key technologies for realizing the autonomy of the mobile robot, and the mobile robot can determine where to go next only by knowing the position of the mobile robot in the current environment.
There are many current methods of positioning a mobile robot, such as: WIFI location, RFID location, UWB location, vision location, iBeacon location, wireless laser range finding sensor location, laser SLAM location and ultrasonic positioning. The methods are good and bad, the positioning is difficult to obtain a good effect only by vision and laser SLAM positioning, and the positioning mode adopted by the existing positioning system is complex, the positioning difficulty is high, and the positioning accuracy is not high enough.
Disclosure of Invention
The invention aims to provide a relative positioning method and a relative positioning system for a mobile robot, which have the advantages of simple positioning mode, low positioning difficulty and high positioning precision.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a relative positioning method for a mobile robot, which is applied to the mobile robot, wherein the mobile robot is provided with an odometer and a plurality of UWB sensors, and the relative positioning method for the mobile robot comprises:
acquiring distance information of a UWB sensor on the mobile robot relative to UWB sensors on other mobile robots;
calculating first relative distance attitude information of the mobile robot according to the distance information;
acquiring second relative distance posture information of the mobile robot based on the odometer;
and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filtering algorithm to obtain the relative positioning information of the mobile robot.
In an alternative embodiment, four UWB sensors are mounted on each mobile robot, and the four UWB sensors are arranged in a matrix form.
In an alternative embodiment, the step of acquiring distance information of the UWB sensor on the mobile robot relative to the UWB sensors on the other mobile robots comprises:
four sets of distance information of one UWB sensor on one mobile robot with respect to four UWB sensors on another mobile robot are acquired.
In an alternative embodiment, the step of calculating the first relative distance attitude information of the mobile robot based on the distance information includes:
and calculating first relative distance attitude information of the other mobile robot relative to the one mobile robot according to the four groups of distance information.
In an alternative embodiment, the first relative distance pose information includes first distance information and first pose information, and the second relative distance pose information includes second distance information and second pose information.
In an alternative embodiment, the odometer comprises:
the encoder is arranged on a roller of the mobile robot and is used for counting the moving distance of the mobile robot;
and the gyroscope is arranged on a chassis of the mobile robot and is used for detecting the yaw angle of the mobile robot in real time.
In an alternative embodiment, the step of acquiring the second relative distance pose information of the mobile robot based on the odometer comprises:
and performing CKF filtering algorithm processing based on the information detected by the odometer to acquire second relative distance posture information of the mobile robot.
In an optional embodiment, the step of obtaining the relative positioning information of the mobile robot by fusing the first relative distance attitude information and the second relative distance attitude information by using a particle filter algorithm includes:
and (3) adopting a particle filter algorithm to take the first relative distance attitude information as a prediction quantity and the second relative distance attitude information as an updating quantity, and performing resampling to obtain the relative positioning information of the mobile robot.
In a second aspect, the present invention provides a mobile robot relative positioning system, comprising:
a mobile robot;
the odometer is arranged on the mobile robot;
a plurality of UWB sensors mounted on the mobile robot;
the controller is in communication connection with the odometer and the UWB sensors and is used for acquiring distance information of the UWB sensors on the mobile robot relative to the UWB sensors on other mobile robots; calculating first relative distance attitude information of the mobile robot according to the distance information; acquiring second relative distance posture information of the mobile robot based on the odometer; and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filtering algorithm to obtain the relative positioning information of the mobile robot.
In an alternative embodiment, four UWB sensors are mounted on each mobile robot, and the four UWB sensors are arranged in a matrix form;
the controller is used for acquiring four groups of distance information of one UWB sensor on one mobile robot relative to four UWB sensors on the other mobile robot, and calculating first relative distance attitude information of the other mobile robot relative to the one mobile robot according to the four groups of distance information.
The method and the system for relatively positioning the mobile robot provided by the embodiment of the invention have the beneficial effects that:
the method comprises the steps of firstly, obtaining first relative distance attitude information of the mobile robot by utilizing distance information detected by a UWB sensor, secondly, obtaining second relative distance attitude information of the mobile robot by utilizing a odometer, and finally, fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filter algorithm to obtain relative positioning information of the mobile robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a relative positioning method for a mobile robot according to a first embodiment of the present invention;
fig. 2 is a block diagram of a mobile robot relative positioning system according to a second embodiment of the present invention.
Icon: 10-relative positioning system of mobile robot; 11-a mobile robot; 12-odometer; 13-a UWB sensor; 14-a controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a relative positioning method (hereinafter referred to as "relative positioning method") for a mobile robot, which is applied to the mobile robot. The relative positioning method comprises the following steps:
s1: distance information of the UWB sensor on the mobile robot relative to UWB sensors on other mobile robots is acquired.
Specifically, a speedometer and a plurality of UWB sensors are mounted on the mobile robot, specifically, four UWB sensors are mounted on each mobile robot, and the four UWB sensors are arranged in a matrix form.
The first relative distance pose information includes first distance information and first pose information.
Four sets of distance information of one UWB sensor on one mobile robot with respect to four UWB sensors on another mobile robot are acquired.
That is, based on one UWB sensor on the first mobile robot, four sets of distance information of four UWB sensors on the second mobile robot with respect to one UWB sensor on the first mobile robot can be obtained.
S2: and calculating first relative distance attitude information of the mobile robot according to the distance information.
Specifically, first relative distance posture information of the other mobile robot relative to the one mobile robot is calculated according to the four groups of distance information.
First distance information and first attitude information of the second mobile robot with respect to the first mobile robot are obtained from the four sets of distance information obtained in S1, where the first distance information is a distance between the two mobile robots, and the first attitude information is a yaw angle or an attitude of the second mobile robot with respect to the first mobile robot.
For example: the first relative distance attitude information of the mobile robot numbered i and the mobile robot numbered j, at time t, if the mobile robot numbered j is within the measurement range of the mobile robot numbered i, the mobile robot numbered i can obtain 16 groups of distance information from the mobile robot numbered j, and the best relative attitude match is obtained by minimizing the residual error of the distance information between the two mobile robots, so that the first relative distance attitude information between the two mobile robots is obtained, and the specific applied calculation formula is as follows:
in the formula, the function d (·) represents the distance between the UWB sensor k on the mobile robot of the number i and the UWB sensor l on the mobile robot of the number j in the case of the relative posture x, and the residual is obtained by comparing the distance with the actual measurement value of the UWB sensor. Since the relative attitude x is (x, y, θ), navigation is introduced when calculating the residual, and therefore estimation of the yaw angle can be achieved.
Regarding the minimization problem as a nonlinear optimization problem, optimizing the minimization problem by using a Levenberg-Marquardt algorithm as a solver to find x with the smallest function value r-d (.) which is the optimized relative posture (i.e. the first relative distance posture information to be estimated)
). The algorithm is fast in convergence, and the calculation efficiency is effectively improved.
S3: and acquiring second relative distance posture information of the mobile robot based on the odometer.
The odometer comprises an encoder and a gyroscope, the encoder is installed on a roller of the mobile robot and used for counting the moving distance of the mobile robot, the gyroscope is installed on a chassis of the mobile robot, and the gyroscope is used for detecting the yaw angle of the mobile robot in real time.
That is, in the moving process of the mobile robot, the encoder can count the moving distance of the mobile robot by counting the rotation number of the roller. The gyroscope can detect the yaw angle of the mobile robot in real time, and the movement track of the mobile robot can be counted by combining the movement distance and the yaw angle, so that the second relative distance attitude information of the second mobile robot relative to the first mobile robot can be obtained.
Specifically, the second relative distance posture information includes second distance information and second posture information. The second distance information is a distance between the two mobile robots, and the second attitude information is a yaw angle or an attitude of the second mobile robot with respect to the first mobile robot.
Further, CKF filtering algorithm processing may be performed based on the information detected by the odometer to obtain second relative distance posture information of the mobile robot.
S4: and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filtering algorithm to obtain the relative positioning information of the mobile robot.
Specifically, the first relative distance attitude information is used as a prediction quantity, the second relative distance attitude information is used as an update quantity, resampling is carried out, and the relative positioning information of the mobile robot is obtained.
The method for relatively positioning the mobile robot provided by the embodiment has the beneficial effects that:
the method comprises the steps of firstly, obtaining first relative distance attitude information of the mobile robot by utilizing distance information detected by a UWB sensor, secondly, obtaining second relative distance attitude information of the mobile robot by utilizing a odometer, and finally, fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filter algorithm to obtain relative positioning information of the mobile robot.
Second embodiment
Referring to fig. 2, the present embodiment provides a mobile robot relative positioning system 10 (hereinafter referred to as "relative positioning system"), which includes a mobile robot 11, an odometer 12, a UWB sensor 13 and a controller 14.
Specifically, the mobile robot 11 is provided with a odometer 12 and a plurality of UWB sensors 13, and specifically, each mobile robot 11 is provided with four UWB sensors 13, and the four UWB sensors 13 are arranged in a matrix form.
The odometer 12 includes an encoder installed on a roller of the mobile robot 11, and a gyroscope installed on a chassis of the mobile robot 11 and used for detecting a yaw angle of the mobile robot 11 in real time.
The controller 14 is communicatively connected to the odometer 12 and the plurality of UWB sensors 13, and the controller 14 is configured to execute the relative positioning method of the mobile robot 11 provided in the first embodiment.
Specifically, the controller 14 is configured to acquire distance information of the UWB sensor 13 on the mobile robot 11 with respect to the UWB sensors 13 on the other mobile robots 11; calculating first relative distance attitude information of the mobile robot 11 according to the distance information; acquiring second relative distance posture information of the mobile robot 11 based on the odometer 12; and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filtering algorithm to obtain the relative positioning information of the mobile robot 11.
That is, the controller 14 is configured to acquire four sets of distance information of one UWB sensor 13 on one mobile robot 11 with respect to four UWB sensors 13 on another mobile robot 11, calculate first relative distance attitude information of another mobile robot 11 with respect to one mobile robot 11 from the four sets of distance information, use the first relative distance attitude information as a prediction amount and the second relative distance attitude information as an update amount by using a particle filter algorithm, and perform resampling to obtain relative positioning information of the mobile robot 11.
The mobile robot relative positioning system 10 provided by the embodiment has the advantages that:
firstly, first relative distance attitude information of the mobile robot 11 is acquired by using distance information detected by the UWB sensor 13, secondly, second relative distance attitude information of the mobile robot 11 is acquired by using the odometer 12, and finally, the first relative distance attitude information and the second relative distance attitude information are fused by using a particle filter algorithm to acquire relative positioning information of the mobile robot 11.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A mobile robot relative positioning method is applied to a mobile robot and is characterized in that an odometer and a plurality of UWB sensors are installed on the mobile robot, and the mobile robot relative positioning method comprises the following steps:
acquiring distance information of the UWB sensor on the mobile robot relative to the UWB sensors on other mobile robots;
calculating first relative distance attitude information of the mobile robot according to the distance information;
acquiring second relative distance posture information of the mobile robot based on the odometer;
and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filter algorithm to obtain the relative positioning information of the mobile robot.
2. The mobile robot relative positioning method according to claim 1, wherein four UWB sensors are mounted on each of the mobile robots, the four UWB sensors being arranged in a matrix form.
3. The mobile robot relative positioning method according to claim 2, wherein the step of acquiring distance information of the UWB sensor on the mobile robot with respect to the UWB sensors on the other mobile robots comprises:
four sets of distance information of one said UWB sensor on one said mobile robot with respect to four said UWB sensors on another said mobile robot are acquired.
4. The method according to claim 3, wherein the step of calculating first relative distance attitude information of the mobile robot based on the distance information includes:
and calculating the first relative distance attitude information of the other mobile robot relative to the one mobile robot according to the four groups of distance information.
5. The mobile robot relative positioning method according to claim 1, wherein the first relative distance pose information includes first distance information and first pose information, and the second relative distance pose information includes second distance information and second pose information.
6. The mobile robot relative positioning method according to claim 1, wherein the odometer includes:
the encoder is arranged on a roller of the mobile robot and is used for counting the moving distance of the mobile robot;
and the gyroscope is arranged on a chassis of the mobile robot and is used for detecting the yaw angle of the mobile robot in real time.
7. The mobile robot relative positioning method according to claim 1, wherein the step of acquiring the second relative distance pose information of the mobile robot based on the odometer comprises:
and performing CKF filtering algorithm processing based on the information detected by the odometer to acquire second relative distance posture information of the mobile robot.
8. The method according to claim 1, wherein the step of obtaining the relative positioning information of the mobile robot by fusing the first relative distance pose information and the second relative distance pose information using a particle filter algorithm comprises:
and the first relative distance attitude information is used as a prediction quantity and the second relative distance attitude information is used as an updating quantity by adopting a particle filter algorithm, and resampling is carried out to obtain the relative positioning information of the mobile robot.
9. A mobile robot relative positioning system, comprising:
a mobile robot;
the odometer is arranged on the mobile robot;
a plurality of UWB sensors mounted on the mobile robot;
a controller communicatively coupled to the odometer and the plurality of UWB sensors, the controller configured to obtain distance information of the UWB sensors on the mobile robots relative to the UWB sensors on the other mobile robots; calculating first relative distance attitude information of the mobile robot according to the distance information; acquiring second relative distance posture information of the mobile robot based on the odometer; and fusing the first relative distance attitude information and the second relative distance attitude information by adopting a particle filter algorithm to obtain the relative positioning information of the mobile robot.
10. The mobile robot relative positioning system according to claim 9, wherein four UWB sensors are mounted on each of the mobile robots, the four UWB sensors being arranged in a matrix form;
the controller is configured to acquire four sets of distance information of one UWB sensor on one mobile robot relative to four UWB sensors on another mobile robot, and calculate the first relative distance attitude information of another mobile robot relative to one mobile robot based on the four sets of distance information.
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| CN112833876A (en) * | 2020-12-30 | 2021-05-25 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107179080A (en) * | 2017-06-07 | 2017-09-19 | 纳恩博（北京）科技有限公司 | The localization method and device of electronic equipment, electronic equipment, electronic positioning system |
| CN107478214A (en) * | 2017-07-24 | 2017-12-15 | 杨华军 | A kind of indoor orientation method and system based on Multi-sensor Fusion |
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| US20210116914A1 (en) * | 2019-10-16 | 2021-04-22 | Yuan Ren | Method and system for localization of an autonomous vehicle in real time |
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