Research on high precision location algorithm for trajectory tracking of service robot
Menglong Cao, Fei Liu · 2021 4th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) · 2021
Aiming at the problem that the trajectory tracking of service robot deviates from the set trajectory due to the low positioning accuracy of single sensor, a combined information positioning method is proposed. The odometer and lidar are selected as the positioning sensor of the indoor service robot to study the high-precision positioning and tracking algorithm based on trajectory tracking. At the same time, in view of the reasonable selection of service robot landmark and the uncertainty of observed landmark data, the links of observation landmark selection and prediction observation matching are added to the positioning algorithm. The simulation results show that the combined information positioning method overcomes the defect of low positioning accuracy of a single sensor and has high positioning accuracy.