---
publication_id: "OT-2026-000002741"
title: "Robot positioning method based on multiple layers of grid maps, and chip and laser robot"
published_at: "2026-09-15T19:15:03.088977Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002741"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j19/022"
  - "b25j19/022"
  - "g01s17/88"
  - "g05d1/242"
  - "b25j13/08"
  - "b25j13/089"
---

# Robot positioning method based on multiple layers of grid maps, and chip and laser robot

## Abstract

A robot positioning method includes: collecting, by a robot, data of laser points by using a laser sensor; obtaining multiple layers of grid maps layer by layer in order from low resolution to high resolution; traversing candidate solutions in a current layer of grid map; controlling a plurality of occupancy probability values obtained correspondingly for the data of laser points at a currently traversed candidate solution to be sequentially summed when the robot determines that the currently traversed candidate solution is a feasible solution; setting, based on a ratio of a resolution of a next layer of grid map to a resolution of the current layer of grid map, the determined feasible solution as a candidate solution of the next layer of grid map; recursively determining feasible solutions in candidate solutions of the layers of grid map in the order from low resolution to high resolution.