Research On The Indoor SLAM Technology Of Storage AGV In An E-commerce Distribution Center

With the rapid development of e-commerce logistics,the traditional manual picking method has been unable to meet the development needs of enterprises.Facing the flexible operation requirements,it is urgent to introduce an intelligent storage AGV to reduce the labor of workers and improve the operation efficiency.Autonomous navigation is the future development trend of warehousing AGV(Automated Guided Vehicle).SLAM(simultaneous localization and mapping)technology is the premise and foundation for warehousing AGV to realize autonomous navigation,and it is also the current research hotspot.Aiming at the shortcomings of traditional navigation methods and the application requirements of enterprises,this topic proposes an AGV solution for autonomous navigation and storage based on SLAM,focusing on SLAM technology(synchronous positioning and mapping technology).The main research contents are as follows:First of all,according to the existing problems of the enterprise's manual picking mode,combined with the overall layout and application requirements of the enterprise,the overall plan of the storage AGV is designed,including the planning of the operation process and the design of the system architecture,the selection of the navigation plan,and the design of the storage AGV structure Etc.;secondly,analyze the key technologies to realize AGV autonomous navigation,draw SLAM problems and describe them mathematically,establish relevant mathematical models around the realization of SLAM process,including warehouse AGV coordinate system model and sensor model,for three Compare and analyze commonly used map models,choose a suitable map model,and pave the way for the implementation of the SLAM algorithm;again,for the construction of navigation maps in the AGV operating environment of the warehouse,considering the map optimization SLAM method has advantages in a large-scale environment,A set of indoor SLAM mapping schemes are designed under the framework of graph optimization,from grid map preprocessing,local submap construction,search window-based closed-loop detection strategy and SPA(Sparse pose Adjustment)for back-end optimization method Complete the construction of the entire SLAM algorithm in four aspects The theoretical analysis and formula derivation of each link are carried out.Finally,based on the distributed characteristics of the ROS platform,the SLAM system framework is built and each sub-module is configured to simulate the AGV's construction process in the simulation environment.According to the construction effect The effectiveness of graph optimization SLAM algorithm is verified.The autonomous navigation technology based on SLAM can adapt to the complex and changeable environment,reduce the cost of maintenance and transformation of enterprises,and has good application prospects.Research on SLAM technology provides a certain reference value for warehouse AGV to achieve autonomous navigation.