发明名称 |
Simultaneous localization and mapping for a mobile robot |
摘要 |
A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight. |
申请公布号 |
US9400501(B2) |
申请公布日期 |
2016.07.26 |
申请号 |
US201514674427 |
申请日期 |
2015.03.31 |
申请人 |
iRobot Corporation |
发明人 |
Schnittman Mark |
分类号 |
G05D1/00;G05D1/02 |
主分类号 |
G05D1/00 |
代理机构 |
Honigman Miller Schwartz and Cohn LLP |
代理人 |
Honigman Miller Schwartz and Cohn LLP |
主权项 |
1. A method comprising:
receiving, at a computing device, sensor data from an autonomous mobile robot operating in a work environment; updating, using the computing device, an occupancy map of the work environment with location occupancy probabilities based on the received sensor data; determining, using the computing device, a localization quality of the autonomous mobile robot; and when the localization quality does not satisfy a threshold localization quality, executing, using the computing device, a wall-following behavior that causes the autonomous mobile robot to maneuver toward a wall in the work environment and drive adjacent to the wall until the localization quality satisfies the threshold localization quality. |
地址 |
Bedford MA US |