Title:
METHOD AND SYSTEM FOR SIMULTANEOUSLY PERFORMING FDD AND SLAM UNDER MOBILE ROBOT FAULT
Document Type and Number:
WIPO Patent Application WO/2022/261814
Kind Code:
A1
Abstract:
A method and system for simultaneously performing FDD and SLAM under a mobile robot fault. The method comprises: acquiring posture samples of a robot at a moment t (S101); determining the weight of each posture sample according to the posture samples of the robot at the moment t, environmental point cloud data of the robot at the moment t, and an environmental map estimation at a moment t−1 (S102); according to a state mode to which each posture sample belongs at the moment t and the weight of each posture sample at the moment t, calculating an estimation probability of each state mode occurring at the moment t, selecting a state mode with the maximum estimation probability, and taking same as a state mode estimation at the moment t (S103); taking a posture sample with the maximum posterior probability from among target posture samples as a posture estimation of the robot at the moment t, wherein the target posture samples comprise a posture sample corresponding to the state mode estimation at the moment t (S104); and according to the environmental point cloud data and the posture estimation of the robot at the moment t, determining an environmental map estimation at the moment t (S105). By means of the method, fault diagnosis and simultaneous localization and mapping can be simultaneously performed under a mobile robot fault.
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Inventors:
DUAN ZHUOHUA (CN)
Application Number:
PCT/CN2021/100035
Publication Date:
December 22, 2022
Filing Date:
June 15, 2021
Export Citation:
Assignee:
UNIV ELECTRONIC SCIENCE & TECHNOLOGY CHINA ZHONGSHAN INST (CN)
International Classes:
B25J19/00; G01C21/00
Foreign References:
| CN103795373A | 2014-05-14 | |||
| CN109669350A | 2019-04-23 | |||
| CN109129574A | 2019-01-04 | |||
| CN110216680A | 2019-09-10 | |||
| US5739657A | 1998-04-14 |
Other References:
DUAN ZHUO-HUA, CAI ZI-XING, YU JIN-XIA: "Fault Diagnosis and Fault Tolerant Control for Wheeled Mobile Robots under Unknown Environments: A Survey", ROBOTICS AND AUTOMATION, 2005. PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON BARCELONA, SPAIN 18-22 APRIL 2005, PISCATAWAY, NJ, USA,IEEE, 18 April 2005 (2005-04-18) - 22 April 2005 (2005-04-22), pages 3428 - 3433, XP010871452, ISBN: 978-0-7803-8914-4, DOI: 10.1109/ROBOT.2005.1570640
Attorney, Agent or Firm:
BEIJING GAOWO LAW FIRM (CN)
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