Robot navigation scanning matching algorithm based on combination of ICP and genetic optimization

The invention relates to a robot navigation scanning matching algorithm based on combination of ICP (inductively coupled plasma) and genetic optimization, which comprises the following steps of: operating a genetic algorithm, finding (x, y) translation and rotation phi, obtaining optimal alignment b...

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Bibliographic Details
Main Authors HUANG CHENGHUI, XIAO HAOWEN, CAI YA
Format Patent
LanguageChinese
English
Published 11.04.2023
Subjects
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention relates to a robot navigation scanning matching algorithm based on combination of ICP (inductively coupled plasma) and genetic optimization, which comprises the following steps of: operating a genetic algorithm, finding (x, y) translation and rotation phi, obtaining optimal alignment between two different scans, coding each parameter of a scanning position (x, y, phi) into a bit string in a chromosome, discretizing a problem space in a limited solution space, and obtaining the optimal alignment between the two different scans. Setting search area limitation and resolution, and setting according to a distance measurement error model under the conditions of posture tracking and distance measurement; a pose result output by the genetic algorithm is given to an ICP algorithm, and the ICP algorithm minimizes an objective function; searching a corresponding point; optimizing the rotation matrix R and the translation matrix T by using a least square method; and finally, continuous iterative optimizatio
Bibliography:Application Number: CN202211666564