Research On Motion And Positioning Technology Of Laser Navigation Omni-Directional AGV

Parking AGV(Automated Guided Vehicles)was born to solve the problem of insufficient parking spaces and difficult parking.Therefore,researching the laser navigation omnidirectional motion AGV with various movement modes,flexible path planning,and high positioning accuracy is one of the key ways to solve the problem of waste of space caused by inadequate parking spaces.At present,there are few studies on the calibration of AGV structural parameters in the research of laser navigation omnidirectional motion AGV.The traditional parameter calibration is mostly manual measurement,which has the problems of large errors and affecting the motion stability and positioning accuracy.To this end,this paper proposes a calibration method for calculating the internal and external parameters of a dual-rudder-driven AGV and a triangular positioning algorithm that uses weight calculation to synthesize information from multiple reflectors to improve the positioning accuracy of the AGV.The main work of this article is as follows:(1)A calibration method for calculating the internal and external parameters of a dual steering wheel driven AGV is proposed.According to the kinematics equation and the difference between the position and attitude of the lidar before and after,the value of the intrinsic parameter is estimated from the odometer.The external parameter value is calculated according to the mismatch between the movement of the AGV reference point and the movement of the lidar.The effectiveness of this method in reducing structural calculation errors and motion parameter errors is studied.(2)A new triangular positioning algorithm with weight calculation to synthesize the information of multiple reflectors is improved.The positioning ability of the algorithm in the laser positioning calculation of the reflector is studied.Compared with the traditional triangle positioning algorithm,the weight calculation triangle positioning algorithm can refer to the pose information of more than three reflectors,and can choose more appropriate weights according to the position relationship between the reflectors to improve the final calculation Reliability.(3)A laser navigation dual steering wheel-driven parking AGV is used as an experimental platform for calibration experiments,and the calibration results are used for positioning experiments.This calibration method is used in actual engineering projects,showing its effect on enhancing the stability of movement,and solving the problem that the AGV cannot be charged due to the inaccurate positioning of the automatic charging station.At the same time,the calibration results were used for positioning experiments.The accuracy of the dynamic positioning and fixed-point positioning was compared between the triangular positioning algorithm using the mean calculation and the weighted calculation method.It was verified that the weighted triangular positioning algorithm had higher accuracy.