A method for adaptive positioning of indoor AGV based on laser slam

A positioning method and self-adaptive technology, applied in the re-radiation of electromagnetic waves, navigation, instruments, etc., can solve the problems of inability to provide consistent and stable positioning information, poor positioning flexibility, and increased costs, achieving low cost, improved efficiency, The effect of reducing the difficulty of development

Active Publication Date: 2022-05-06
CHINA JILIANG UNIV
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Problems solved by technology

[0004] The commonly used positioning methods for AGV are tape positioning, two-dimensional code positioning, and inertial navigation positioning. Although these positioning methods have high positioning accuracy and are simple and easy to implement, they have poor positioning flexibility. When the working environment changes, it is necessary to re-lay the positioning equipment. add extra cost
[0005] The existing 2D laser SLAM positioning algorithm still has certain defects and cannot provide consistent and stable positioning information

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  • A method for adaptive positioning of indoor AGV based on laser slam
  • A method for adaptive positioning of indoor AGV based on laser slam
  • A method for adaptive positioning of indoor AGV based on laser slam

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Embodiment Construction

[0059] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0060] figure 1 It is a hardware structure diagram of the AGV adaptive positioning method based on laser SLAM in the present invention, composed of figure 1 shown.

[0061] In the present invention, what upper computer selects is NVIDIA TX2 high-performance embedded development board, is equipped with Ubuntu16.04 and ROS Kinetic operating system. The lower computer is an STM32 embedded development board, and the remote monitoring terminal is a laptop, which is also equipped with Ubuntu and ROS operating systems, which are used to display the running status of the AGV and issue coordinate commands of the target point.

[0062] The RPLidar A2 laser radar used is connected to the host computer through a USB cable. The laser radar collects the distance and angle information of obstacles within the eff...

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Abstract

The invention relates to an indoor AGV self-adaptive positioning method based on laser SLAM, and relates to the technical field of positioning of fusion of multiple sensors of laser SLAM, odometer and IMU. The indoor AGV adaptive positioning system includes an upper computer, a lower computer, a motor drive device, a 2D laser radar, an odometer and an inertial measurement unit. Using lidar to build a two-dimensional grid map of the AGV's working environment, according to the different structural features in the working environment, adaptively switch between the ICP matching algorithm based on feature points and the matching algorithm based on optimization, so as to improve the AGV in The realization of positioning accuracy and speed in a complex working environment can effectively overcome the problems of low positioning accuracy, poor positioning flexibility and high cost of AGV existing in the prior art.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a laser SLAM positioning method for self-adaptive switching of multi-sensor fusion of 2D laser radar, odometer and inertial measurement unit. Background technique [0002] With the rapid development of society, more and more people shop online in recent years, making the logistics industry develop in a more intelligent and efficient direction. Automated Guided Vehicle (AGV) is a vehicle that automatically travels along a specified path in a working environment, and is usually used for the transportation of industrial production or warehouse goods. It is one of the most widely used robots in the logistics industry. AGV is playing an increasingly important role in modern industrial production and has been widely used. [0003] As a small car with autonomous positioning and navigation functions, AGV is a complex system integrating environmental perception, path planning,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20G01S17/86
CPCG01C21/005G01C21/165G01C21/206G01S17/86
Inventor 陈迪剑向韬谢楚良钟昊
Owner CHINA JILIANG UNIV
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