Global positioning method of laser-navigated AGV (automatic guided vehicle)

A positioning method and laser navigation technology, applied in the field of global positioning of laser navigation AGV

Active Publication Date: 2015-06-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] Aiming at the defects of the above-mentioned prior art, the purpose of the present invention is to provide a global positioning method for laser navigation AGV, to solve the global positioning problem when the initial pose of the AGV in the feature map of the prior art is unknown

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  • Global positioning method of laser-navigated AGV (automatic guided vehicle)
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  • Global positioning method of laser-navigated AGV (automatic guided vehicle)

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Embodiment Construction

[0044] In order to facilitate the understanding of those skilled in the art, a global positioning method for a laser radar-guided AGV of the present invention will be further described below in conjunction with the embodiments and accompanying drawings, so as to make the purpose, technical solution and effect of the present invention clearer and clearer. The content mentioned in the manner is not a limitation of the present invention.

[0045] It should be understood that the specific embodiments described in the present invention are only examples to illustrate the spirit of the present invention, and those skilled in the art can make various modifications or supplements or replace them in similar ways, all of which Improvements and transformations should belong to the scope of protection of the appended claims of the present invention.

[0046] refer to figure 2As shown, the hardware structure of the laser navigation AGV system adopted in the global positioning method of t...

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Abstract

The invention discloses a global positioning method of a laser-navigated AGV (automatic guided vehicle). The global positioning of the AGV comprises the determination of direction and position of the AGV in an environmental map. The method comprises the following steps: firstly, determining direction information by reading data of a compass arranged on an AGV body; and secondly, determining position information by using road sign information detected by a laser radar and by adopting a Markov method, wherein the Markov method comprises two stages, namely time updating and observation updating. According to the global positioning method, the problem of accurate positioning of the initial position of the AGV is effectively solved, so that the AGV is not required to start at a known position every time, furthermore, the great inconvenience brought to the application of the AGV is eliminated, namely even if the AGV starts at any position, a relatively accurate initial position of the AGV can be given.

Description

technical field [0001] The invention belongs to the technical field of AGVs, and in particular relates to a global positioning method for laser navigation AGVs. Background technique [0002] According to previous studies, data association is required when using feature maps to locate AGVs, and on this basis, the correspondence between observations and landmarks in the map is established. Among the existing data association methods, the nearest neighbor method is a typical independent consistent method. The nearest neighbor method is simple and fast, but it ignores the correlation between landmarks in the map and cannot guarantee a consistent assumption. More importantly, it is a local correlation method that requires an initial The initial value with a large error can easily lead to wrong assumptions. [0003] Considering that the nearest neighbor method ignores the correlation between landmarks in the map, some researchers adopt a more stringent joint compatibility test a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/20
Inventor 楼佩煌钱晓明满增光张浩李斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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