Methods, apparatus, and medium for estimating pose of mobile robot using particle filter
First Claim
1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
- sampling current particle on basis of initial position of the mobile robot;
detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle;
predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information;
resampling the current particle on the basis of the weight; and
adjusting the weight in consideration of an error of the sensor,wherein the detecting of the change in pose of the mobile robot and the calculating of the pose of the current particle by applying the detected change in pose to the previous particle comprises updating the pose of the current particle in a direction where the position probability increases by using a hill climbing method on the basis of a relative coordinate system according to a heading angle of the mobile robot, andwherein the hill climbing method causes a step size to be changed adaptively to an error covariance ellipse of the odometer model that detects the change in pose such that the step size increases in a direction where the robot proceeds.
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Abstract
Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor
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Citations
12 Claims
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1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
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sampling current particle on basis of initial position of the mobile robot; detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; resampling the current particle on the basis of the weight; and adjusting the weight in consideration of an error of the sensor, wherein the detecting of the change in pose of the mobile robot and the calculating of the pose of the current particle by applying the detected change in pose to the previous particle comprises updating the pose of the current particle in a direction where the position probability increases by using a hill climbing method on the basis of a relative coordinate system according to a heading angle of the mobile robot, and wherein the hill climbing method causes a step size to be changed adaptively to an error covariance ellipse of the odometer model that detects the change in pose such that the step size increases in a direction where the robot proceeds. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for estimating a pose of a mobile robot using a particle filter, the method comprising:
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sampling current particle on basis of initial position of the mobile robot; detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; resampling the current particle on the basis of the weight; and adjusting the weight in consideration of an error of the sensor, wherein the adjusting of the weight in consideration of the error by the sensor comprises adjusting the weight according to an error characteristic value that is defined on the basis of the distance on the map at the position of the current particle and the distance measured by the sensor. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification