Research And Implementation Of Point Cloud Data Processing And Navigation Technology Based On Multi-line Lidar

With the rapid development of science and technology,the navigation technology of intelligent vehicle has attracted more and more attention.At present,the laser navigation scheme based on multi line lidar has been widely recognized,and the performance of point cloud data processing algorithm,the core technology of laser navigation and positioning,directly affects the reliability of the whole navigation system.Starting with the point cloud data processing technology in laser navigation,this paper optimizes the point cloud data preprocessing and point cloud registration and positioning method to a certain extent,and then designs the overall architecture of laser navigation AGV and the overall scheme of navigation system for the environment of large industrial plant,and finally realizes the stable operation of the real vehicle.The main research work of this paper is as follows:(1)In view of the shortcoming that the voxel filtering down sampling algorithm in point cloud preprocessing will lose some geometric features,an improved voxel filtering method based on KD tree nearest neighbor search is proposed.The k nearest neighbor search is used to find the point closest to the center of gravity as a substitute point to improve the accuracy of point cloud data after down sampling.Finally,the point cloud data preprocessing process is designed based on point cloud storage,noise processing and point cloud down sampling algorithm.(2)The traditional normal distribution transformation registration algorithm can not converge or fall into local minimum when dealing with two frame point clouds with large difference in pose transformation.In order to improve the convergence performance of the algorithm,an improved three-dimensional normal distribution transformation registration algorithm based on Levenberg Marquardt(LM)method is proposed in this paper.In the iterative optimization step of the algorithm,lewenberg Marquardt method is used to dynamically adjust the step size of each iterative process until it reaches the optimum,so as to avoid the problem of unable convergence or falling into local minimum.The experimental data show that compared with the traditional normal distribution transformation registration algorithm,this algorithm has higher accuracy and better robustness when there is a large difference in pose transformation.(3)The navigation system based on multi line lidar is designed by using the preprocessing and positioning optimization algorithm of multi line LIDAR point cloud data and combined with the actual project of AGV logistics transportation in large factory area;The overall scheme design of AGV navigation platform based on multi line laser navigation,the hardware design of navigation control,and the software design of core functions such as the construction of a priori map,system initialization and self inspection,real-time positioning,planning and scheduling and real-time monitoring are realized.The actual vehicle engineering verification is carried out,and a good operation effect is achieved.