Research On Laser Navigation AGV Positioning Technology Based On Dynamic Matching

With the introduction of the "Made in China 2025" plan,the demand for intelligent and flexible transformation in areas such as warehousing and logistics,manufacturing and production workshops is becoming increasingly urgent.As a highly automated equipment in the industrial field,the mobile robot AGV plays an important role in the transformation and upgrading of the industry model of "replacing people with machines." As one of the core technologies of AGV,navigation and positioning technology directly determines the level of intelligence of AGV.Therefore,research on AGV navigation and positioning technology is of great significance.The text takes AGV laser navigation and positioning technology as the research object in the complex environment of warehouse logistics,and conducts research and design from the following points.Based on the description and planning of the composition and layout of the AGV navigation and positioning system based on the laser reflector column positioning,a laser navigation AGV positioning system model was established,and a kinematics mathematical model was established by taking the warehouse logistics handling AGV representative-forklift AGV as an example.Based on the AGV positioning system model,in order to eliminate the shortcomings of the widely used multilateral matching algorithm,in order to eliminate the dependence on the number of reflective columns during matching and reduce the phenomenon of "false matching" or "mismatching" that may occur during matching,A dynamic matching algorithm based on positioning initial value is proposed.At the same time,based on the analysis of traditional triangulation and trilateral positioning,an iterative positioning algorithm based on improved Taylor series is proposed to solve the problem of algorithm failure caused by the number of reflectors.In addition,the reliability analysis of navigation and positioning was also performed.In order to improve the reliability of positioning,a mathematical model of positioning data error correction was established by linearizing the heteroscedasticity that may occur during positioning.Finally,the operation efficiency of the navigation and positioning algorithm is analyzed.In addition,an AGV laser navigation and positioning software system was designed,and a laser navigation and positioning experiment environment was set up.The analysis and analysis of positioning data verified the feasibility of the algorithm and the reliability of navigation and positioning.