The invention provides robotic parcel delivery with ad hoc network converged positioning. A method of calculating a mass position estimate of a delivery robot by creating an ad hoc network that may include one or more autonomous delivery vehicles, nearby infrastructure (such as 5th generation signal transceivers), vehicle-to-infrastructure (V2I) enabled autonomous vehicles, and millimeter wave device components within the line of sight (LOS) of any of the aforementioned communication devices. In some embodiments, a method may include estimating a positioning mass (e.g., a precision factor) and steering the robotic delivery vehicle and/or repositioning the autonomous delivery vehicle itself via a vehicle-to-outside (V2X) antenna disposed on the robotic delivery vehicle to achieve a maximum degree of positioning precision. Location estimates calculated by the vehicle are sent to the delivery robot, which then fuses these estimates with their in-vehicle sensor values. The method may assist positioning based on a 2D occupancy map to enhance positioning performance and provide a robust positioning mechanism without expensive 3D sensors.
本公开提供了“具有自组织网络融合定位的机器人包裹递送”。通过创建可包括一个或多个自主递送车辆、附近的基础设施(诸如第5代信号收发器)、启用车辆对基础设施(V2I)的自主车辆和具有上述通信装置中任一者的视线(LOS)内的毫米波装置部件的自组织网络来计算递送机器人的质量位置估计的方法。方法可包括估计定位质量(例如,精度因子)且经由设置在机器人递送车辆上的车辆对外界(V2X)天线使机器人递送车辆转向和/或重新定位自主递送车辆自身以获得最大程度定位精度。由车辆计算的位置估计值被发送到递送机器人,然后递送机器人将这些估计值与其车载传感器值融合。方法可基于2D占据地图辅助定位以增强定位性能且提供稳健定位机制而无需昂贵的3D传感器。
Robotic parcel delivery with ad hoc network converged positioning
具有自组织网络融合定位的机器人包裹递送
2023-02-21
Patent
Electronic Resource
Chinese
SAE Technical Papers | 1936
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