Research On Logistics Robot Autonomous Positioning And Navigation System Based On Laser SLAM

In recent years,logistics robots have developed rapidly.In many manufacturing industries,logistics robots have been used instead of manual labor to save labor costs and improve work efficiency.The logistics robot realizes the basis of autonomy and intelligence to accurately locate and navigate,and the premise of precise positioning and navigation is to construct a precise environment map.Therefore,in the research of logistics robots,Simultaneous Localization and Mapping(SLAM)is the key to realize the autonomous positioning and navigation of logistics robots.This paper selects laser SLAM as the main research direction.This paper focuses on two aspects of SLAM and path planning of logistics robots.(1)In the aspect of Simultaneous Localization and Mapping(SLAM)of logistics robots,the method of graph optimization is selected as the main research direction.Related robot motion models and sensor observation models are established.Then,aiming at the positioning error and uncertainty of the logistics robot odometer during the SLAM process,the EKF algorithm was selected to fuse the odometer positioning with the UWB positioning.And MATLAB simulation is performed to verify that the fusion algorithm improves the positioning accuracy of logistics robots.And the key steps of data matching,closed-loop detection and back-end optimization of graph optimization SLAM are studied in depth.(2)In terms of path planning for logistics robots,the Dijkstra algorithm and A-star algorithm for global path planning are studied.Aiming at the problems of A-star algorithm,such as long path planning time,many calculation nodes and large memory consumption.This paper proposes to expand the nodes by using the head-end two-way search method on the basis of the standard A-star algorithm,and selects the nearest point of the lowest g value as the front drive,and increases the weight of the heuristic function value.And verify that the improved algorithm and node path planning time reduced by MATLAB simulation.Finally,the DWA algorithm for local path planning is researched,and how the logistics robots perform obstacle avoidance in a dynamic environment is analyzed.(3)An experimental platform with a laser sensor as the main sensor was established,and the autonomous positioning and path planning of the robot based on laser SLAM using the algorithm in this paper were realized.Firstly,the experimental analysis of map construction was carried out.By comparing small and medium-sized indoor environments,the validity of the SLAM algorithm optimized by map optimization was verified.Then,a comparative experiment of path planning was performed on the basis of building the map.By comparing experimental results verify the correctness and effectiveness of the algorithm proposed in this paper.In this paper,through the research on the positioning problem in SLAM process,as well as the problem of mapping and path planning,the feasibility of the autonomous positioning and navigation system research of logistics robot based on laser SLAM is realized.