The invention discloses a polytope filtering method for pose positioning of a mobile robot in a production workshop, and belongs to the technical field of manufacturing process control. According to the method, the mobile robot is positioned by adopting a holosymmetric polytope set membership filtering method, so that the geometric region of the holosymmetric polytope is minimum, the identification conservative property is effectively reduced, and the accuracy of robot pose positioning is improved. Furthermore, dimensionality reduction is carried out on the holosymmetric polytope through singular value decomposition, the final calculation quantity is simplified, the calculation burden caused by dimensionality increase is avoided, and the calculation efficiency is greatly improved. The posepositioning method provided by the invention is applied to pose positioning of the mobile robot in the production workshop, and the positioning accuracy and the state estimation efficiency are improved, so that the productivity can be improved; the method provided by the invention also provides technical enlightenment for subsequent intelligent manufacturing.

    本发明公开了一种生产车间移动机器人位姿定位的多胞体滤波方法,属于制造过程控制技术领域。所述方法通过采用全对称多胞体集员滤波方法对移动机器人进行定位,使得全对称多胞体的几何区域最小,从而有效降低了辨识保守性,增加了机器人位姿定位的准确性。进一步的,通过奇异值分解对全对称多胞体进行降维,简化最终计算量,避免维数增加带来的计算负担,使得计算效率大大提高。本申请提供的位姿定位方法应用于生产车间移动机器人位姿定位中,提高了定位准确性以及状态估计的效率,因而能够提高产能;本申请方法也为接下来的智能制造给出了技术启示。


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    Titel :

    Polytope filtering method for pose positioning of mobile robot in production workshop


    Weitere Titelangaben:

    一种生产车间移动机器人位姿定位的多胞体滤波方法


    Beteiligte:
    WANG ZIYUN (Autor:in) / ZHANG SHUAI (Autor:in) / WANG YAN (Autor:in) / JI ZHICHENG (Autor:in)

    Erscheinungsdatum :

    22.05.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B62D MOTOR VEHICLES , Motorfahrzeuge



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