METHOD OF ROBOT LOCALIZATION IN LOCALIZATION PLANE Russian patent published in 2018 - IPC B25J9/16 

FIELD: robotics.

SUBSTANCE: invention relates to a method for locating an anthropoid robot in a localization plane associated with a two-dimensional reference point with two x and y axes. Method comprises the following steps: determining (200) by odometry the evaluation of the coordinates x1 and y1 of the robot, as well as evaluating its orientation Ө1; determining (202) estimation of Ө2 of the robot orientation by using a virtual compass; determining (204) estimation of the robot orientation Ө3 by correlating the parts of the reference panorama with the request panorama parts; determining (206) the x4, y4 estimations of the robot position by using the iterative technology of the nearest points; determining of mean-square deviations σ_x1, σ_x2, σ_Ө1, σ_Ө2, σ_Ө3, σ_x4, σ_y4 of estimates mentioned above; determining (220) distributions G(x1), G(y1), G(Ө1), G(Ө2), G(Ө3), G(x4) and G(y4) of probabilities of each available estimate using the averages of the quadratic deviations; determining (221) three global distributions GLOB(x), GLOB(y) and GLOB(Ө) and determining global estimation of xg, yg coordinates of the robot in the localization plane, as well as a global estimate of Өg its orientation by applying maximum likelihood to global distributions.

EFFECT: method for localizing a robot in the localization plane is proposed.

7 cl, 5 dwg