ODOM / DM Landmark Integrated Navigation Method Based on Laser SLAM

Abstract

To solve the problem that the navigation accuracy of logistics robot decreases with displacement, a combined Odom and Data Matrix (DM) landmark navigation method based on SLAM technology is proposed. Firstly, the odometer motion model was established to predict the particle position, and the DM code data information was used to correct its parameters. Then, the DM landmark observation model was established to update the particle importance weight. Then, during the improved particle resampling process, a fixed number of random particles were added according to the observed likelihood of the camera, so as to obtain more accurate particle distribution and effectively improve the positioning accuracy. At the same time, the particle degradation of Monte Carlo method (MCL) algorithm was weakened, and the improved algorithm solved the problem of position drift and hijacking of the robot. Finally, the position and pose of DM landmarks are constantly corrected through trajectory correction to improve the global navigation accuracy of the robot. Experiments based on the integrated navigation robot platform show that the accuracy of the integrated navigation method is 35.6% higher than that of the traditional laser SLAM navigation method, which verifies the effectiveness of the scheme.