Virtual scanning and ranging matching-based AGV laser SLAM method

A virtual scanning and laser technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., can solve the problem of filtering, estimation stability and positioning accuracy cannot be absolutely guaranteed, and it is difficult to meet the application requirements of industrial AGV robots, etc. question
CN107239076AInactive Publication Date: 2017-10-10仲训昱
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
仲训昱
Publication Date
2017-10-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a virtual scanning and ranging matching-based AGV laser SLAM method, and relates to mobile robot navigation and positioning. The method comprises a grid map representation and establishment method, a virtual scanning and matching positioning method and an algorithm instantaneity improving method. The method using a contour traversal matching principle comprises the specific steps of scanning a map by adopting a virtual laser radar at each traversal position, directly comparing virtually scanned data with data of a current laser radar, finding out optimal position information of an AGV robot and then incrementally building the map. For the problems that most of existing laser SLAM algorithms are aimed at a low-precision sensor, and the filtering, estimating and optimizing stability and the positioning accuracy cannot be absolutely ensured and the application requirements of the industrial AGV robot cannot be easily met, the problem of preliminary construction and calibration in navigation by adopting a reflector board and a triangulation principle can be solved by adopting multi-GPU parallel processing and changing an initial propulsion position of virtual ranging, and the flexibility, the reliability and the precision are improved.
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Description

technical field

[0001] The invention relates to mobile robot navigation and positioning, in particular to a SLAM (simultaneous positioning and map construction) method of a trackless navigation AGV robot based on 2D laser radar. Background technique

[0002] Simultaneous positioning and map construction (or concurrent mapping and positioning) (Simultaneous Localization AndMapping, SLAM) is a key technology to realize a truly fully autonomous mobile robot. Traditional AGV (Automated Guided Vehicle) navigation mainly includes magnetic strip guidance, magnetic nail guidance, ribbon or two-dimensional code guidance, etc. Although it is simple and easy to implement and has good path tracking reliability, they all belong to the fixed path guidance method and are flexible. Poor sex and flexibility. The new laser navigation method does not require fixed route guidance, and has higher flexibility in application. However, most of the current laser navigation methods use reflectors an...

Claims

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