METHOD FOR LOCALIZING A ROBOT IN A LOCALIZATION PLANE

• Main Authors: WIRBEL Emilie, DE LA FORTELLE Arnaud
• Format: Patent
• Language: English
• Published: 11.05.2017
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

A method for localizing a robot in a localization plane with a bi-dimentional reference with axis x and y comprises: determining by odometry an estimation of coordinates x1 and y1 and orientation θ1 of the robot; determining an estimation θ2 of the orientation of the robot using a virtual compass; determining an estimation θ3 of the orientation of the robot by correlating parts of a reference and a query panorama; determining an estimation x4, y4 of the robot position using Iterative Closest Points; determining standard deviations σ_x1, σ_x2, σ_θ1 σ_θ2, σ_θ3, σ_x4, σ_y4 of the estimations; determining probability distributions G(x1), G(y1), G(θ1), G(θ2), G(θ3), G(x4), G(y4) of each estimation using standard deviations; determining three global distributions GLOB(x), GLOB(y), GLOB(θ) and a global estimation xg, yg of the coordinates of the robot in the localization plane and a global estimation θg of its orientation by applying maximum likelihood to global distributions.