Research On Autonomous Mobile AGV Control System Based On Laser SLAM

As a highly intelligent robot for automatic material handling and loading and unloading,AGV can greatly reduce manual operations.It is an effective logistics transportation method for automated storage and flexible manufacturing systems and an important part of modern intelligent logistics systems.Therefore,it is of great theoretical significance and practical application value to carry out in-depth research on autonomous positioning and navigation technology in AGV system,and intelligent control technology of vehicle body.This paper focuses on the laser SLAM based autonomous mobile AGV control system.Research and analyze indoor SLAM technology based on lidar,established the AGV system coordinate system,completed the odometer-based motion model,lidar observation model and incremental grid map,and updated the grid map algorithm with MATLAB Simulations were performed to verify the mapping effect of the algorithm.In order to solve the problem of large pose estimation error due to particle degradation in the particle filter-based SLAM positioning algorithm,this paper uses the theory of particle filter positioning algorithm based on Bayesian filtering Derived,analyzed the causes of particle degradation in the process of particle filtering,completed the research of resampling algorithms,designed particle filters based on different resampling algorithms,and completed the positioning experiments in the simulation environment.Particle filter of the MSV resampling algorithm of this subject.On this basis,the concept of Rao-Blackwellized particle filter(RBPF)is introduced,and the research of the conventional RBPF-SLAM algorithm is carried out.Based on the conventional RBPF-SLAM algorithm framework,the theory of mixed proposal distribution is studied,and an improved RBPF-SLAM algorithm based on MSV resampling is proposed.By writing a simulation program,simulation experiments are performed on MATLAB to verify the effectiveness of the improved algorithm.In order to ensure the accuracy of AGV motion control,fuzzy PID control algorithm is used,and simulation experiments are performed in conjunction with MATLAB / SIMULINK,which verifies the effectiveness of the controller.In this paper,an industrial computer Jetson TK1 and STM32F407 are used as the main controller,and a single-line lidar and an odometer are used as the main sensors to build an AGV experimental platform based on laser SLAM.The comparison experiment of AGV mapping effect,the running speed tracking experiment of AGV and the comparison experiment of positioning deviation verify the effectiveness and reliability of the improved RBPF-SLAM algorithm,which meets the requirements of AGV motion control for driving speed and positioning deviation.Indicator requirements.