Three technologies are required for autonomous positioning and navigation:

(1) Real-time positioning (Localization). At present, the accuracy of GPS can only reach half a meter, and the update frequency of real-time positioning is very fast, requiring 10 times per second, which cannot be met by GPS positioning technology. Positioning includes relative positioning and absolute positioning: relative positioning mainly relies on internal proprioceptive sensors such as odometers, gyroscopes, etc., by specifying the initial pose, measuring the distance and direction relative to the initial pose of the robot to determine the current pose of the robot , Also known as Dead Reckoning (DR); absolute positioning mainly uses active or passive identification, map matching, GPS, or navigation beacons for positioning. The position calculation methods include triangulation, trilateral measurement and model matching algorithms.
(2) Mapping. The navigation field is drawn by a dedicated person, but the real-time changes of the home determine that the sweeping robot needs to draw pictures independently without manual intervention.
(3) Path planning. The map drawn by the robot can travel in any direction, so its path planning also includes obstacle avoidance and direct control behavior. The navigator is determined by humans, and the robot is determined by algorithms, so the algorithm is path planning.
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