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1. WO2021065122 - SYSTEM AND METHOD FOR PROBABILISTIC MULTI-ROBOT SLAM

Publication Number WO/2021/065122
Publication Date 08.04.2021
International Application No. PCT/JP2020/025739
International Filing Date 23.06.2020
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/1682
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1682Dual arm manipulator; Coordination of several manipulators
G01C 21/206
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
20Instruments for performing navigational calculations
206specially adapted for indoor navigation
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
G05D 1/0274
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0268using internal positioning means
0274using mapping information stored in a memory device
G05D 1/0287
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
G05D 1/0291
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
0291Fleet control
Applicants
  • MITSUBISHI ELECTRIC CORPORATION [JP]/[JP]
Inventors
  • PAJOVIC, Milutin
  • GLASER, Nathaniel, Moore
  • ORLIK, Philip
Agents
  • FUKAMI PATENT OFFICE, P. C.
Priority Data
16/591,43702.10.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM AND METHOD FOR PROBABILISTIC MULTI-ROBOT SLAM
(FR) SYSTÈME ET PROCÉDÉ DE SLAM MULTIROBOT PROBABILISTE
Abstract
(EN)
A robot performs simultaneous localization and mapping (SLAM) using a particle filter to process sensor measurements of movements of the robot in an environment and occupied locations in the environment to produce a set of particles. Each particle includes a map of the environment and a pose of the robot in the environment to represent a probability that the environment has the map oriented with respect to the pose of the robot. The robot receives a set of particles of a neighboring robot and, in response to receiving the set of particles of the neighboring robot, updates maps of probabilistically sampled particles of the robot with maps of probabilistically sampled particles of the neighboring robot. The update includes merging a map of the sampled particle of the robot with a map of the sampled particle of the neighboring robot roto- translated based on a relative pose between the robots.
(FR)
L’invention concerne un robot effectuant une localisation et une cartographie simultanées (SLAM) à l'aide d'un filtre à particules pour traiter des mesures de capteur de mouvements du robot dans un environnement et des emplacements occupés dans l'environnement pour produire un ensemble de particules. Chaque particule comprend une carte de l'environnement et une position du robot dans l'environnement pour représenter une probabilité que l'environnement présente la carte orientée par rapport à la position du robot. Le robot reçoit un ensemble de particules d'un robot voisin et, en réponse à la réception de l'ensemble de particules du robot voisin, met à jour des cartes de particules échantillonnées de manière probabiliste du robot avec des cartes de particules échantillonnées de manière probabiliste du robot voisin. La mise à jour consiste à fusionner une carte de la particule échantillonnée du robot avec une carte de la particule échantillonnée du robot voisin roto-translatée sur la base d'une position relative entre les robots.
Also published as
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