| With the development of industrial automation,intelligent mobile robots are widely used in industrial production.Indoor autonomous navigation is the key technology to realize intelligent mobile robot.Based on this background,this paper,based on AGV platform,conducts a series of researches on indoor navigation system based on lidar in view of the indoor environment characteristics which mainly presents linear features.The main researches are divided into feature recognition slope difference optimization algorithm considering error and feature matching algorithm based on decision box.The main research work and innovation contents of this paper are as follows:1.The principle of feature recognition algorithm based on slope difference is studied and analyzed.In combination with the inherent data errors of lidar,the feature recognition algorithm in some cases may miss diagonal points and missegment complete line segments,and a slope difference optimization algorithm for feature recognition is proposed with the consideration of lidar error.2.Incomplete based on the indoor laser radar positioning local map and absence of radar data,this paper proposes a feature matching algorithm based on decision box to the current local map and global map matching,resulting in the change of the Angle,and through the indoor environment mainly for vertical and horizontal distribution characteristics of linear features,get the coordinates X and Y coordinates translation changes,The pose information of the AGV at the moment is obtained by combining the known pose information of the AGV in the previous state.3.Research and implement a vehicle-mounted laser radar indoor navigation system,and design and implement the corresponding software and hardware according to the requirements of the system.Hardware mainly includes the main control chip,WIFI communication module,power conversion module,laser radar,servo hub and driver hardware selection,and for their electrical characteristics of the peripheral circuit design and implementation.The software mainly includes the design and implementation of the servo hub and lidar driver,the upper computer system and the main control system of the business logic and global map making,vehicle monitoring,navigation control and the system as a whole work program.In the test environment,AGV can smoothly reach the final task point position along the set task path according to the task point set issued by the upper computer system.During the whole navigation,the deviation distance between AGV and the set path and the error distance between AGV and the final task point position are within 5cm. |
