| As a new kind of logistics automation equipment,AGV(Automated Guided Vehicle)has been playing an more and more important role in manufacturing.For AGV,one of the most important functions is to calculates its own position in the environment at real time,which makes it possible for AGV to select the right route and make the right docking action.In this paper,a structured indoor environment is used as the application background,and the 2D-LiDAR is used as the navigation sensor,and the research work is carried out on the laser navigation AGV control system and the real-time positioning algorithm.The method of selecting and matching the reflector environment and the reflector angle matching algorithm were designed to calculate the angle information of the reflector environment,which was used in an improved multi-signage localization algorithm to calculate the current position of the AGV.The research results are as follows:(1)A set of 2D-LiDAR with proper angular precision and angular resolution is selected to meet the requirements of laser navigation.The corresponding AGV control system and experimental vehicle platform are designed.(2)The position calculation method combining triangulation algorithm and triangulation algorithm and the corresponding algorithm of reflector matching and quality criterion are designed.(3)The model of SLAM algorithm is analyzed to establish the AGV motion and the 2D-LiDAR observation model.Based on EKF-SLAM,the state prediction of AGV pose and covariance matrix was carried out,and the possible error caused by AGV moving between two positioning calculation points was corrected in advance.(4)Discusse and analysis the source of noise in laser positioning,the influence of encoder measuring precision lead to error,and by using normal distribution approximation error of the probability density curve.A laser localization noise model was established,and an adaptive estimation algorithm for the statistical characteristics of laser localization noise was derived. |
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