Patent ID: 11971726
Assignee: WUHAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 1:
2. The method according to claim 1, wherein
in 1), the real-time pose of the robot platform is as follows:

co,k=(xo,k,yo,k,θo,k),k∈[1,K]

where co,k refers to the real-time pose of the robot platform at a k-th moment, Xo,k refers to an x-axis coordinate of the robot platform in the environment grid map coordinate system at the k-th moment, yo,k refers to a y-axis coordinate of the robot platform in the environment grid map coordinate system at the k-th moment, θo,k refers to a yaw angle of the robot platform at the k-th moment, the yaw angle is an included angle with an x-axis positive direction, and K refers to the number of collection moments.