Method used by robot for simultaneous localization and map-building
First Claim
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1. A method used by a robot for simultaneous localization and map-building, comprising:
- initializing a pose of the robot and locations of landmarks;
sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks;
observing the landmarks from a present location of the robot;
generating offspring from the chromosomes using a random value of one of the landmarks according to a Gaussian distribution and a variance of the one of the landmarks; and
selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks.
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Abstract
A method used by a robot for simultaneous localization and map-building, including: initializing a pose of the robot and locations of landmarks; sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks; observing the landmarks from a present location of the robot; generating offspring from the chromosomes; and selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks.
116 Citations
22 Claims
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1. A method used by a robot for simultaneous localization and map-building, comprising:
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initializing a pose of the robot and locations of landmarks; sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks; observing the landmarks from a present location of the robot; generating offspring from the chromosomes using a random value of one of the landmarks according to a Gaussian distribution and a variance of the one of the landmarks; and selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory computer-readable storage medium encoded with processing instructions for causing a processor to perform a method used by a robot for simultaneous localization and map-building, the method comprising:
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initializing a pose of a robot and locations of landmarks; sampling a new pose of the robot during motion of the robot, and constructing chromosomes using the locations of the landmarks; observing the landmarks from a present location of the robot; generating offspring from the chromosomes using a random value of one of the landmarks according to a Gaussian distribution and a variance of the one of the landmarks; and selecting next-generation chromosomes from the chromosomes and the offspring using observation values of the landmarks.
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18. A method of simultaneous localization and map-building, comprising:
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initializing a pose of a robot and a location of a landmark, the pose including a direction in which a front of the robot faces and x,y coordinates indicating a location of the robot; sampling a new position of the robot as the robot moves; constructing a chromosome for an evolutionary computation, the chromosome indicating the location of the landmark and being an object in the evolutionary computation; observing the landmark from the new position; determining whether a new landmark is present and, if so, initializing a location of the new landmark using an observed distance and angle from the robot to the landmark; generating, when a new landmark is determined not to be present, offspring from a present parent chromosome using a random value of one of the landmarks according to a Gaussian distribution and a variance of the one of the landmarks; evaluating fitness of the parent and the offspring, fitness being defined as an objective function according to a difference between an observation value and a prediction value of each landmark; and selecting a next generation chromosome from the parents and the offspring based on fitness values. - View Dependent Claims (19, 20, 21, 22)
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Specification