基于激光雷达AGV的实时地图创建

Real-time Mapping Based on Laser Radar for AGV

自动导引车(Automated Guided Vehicle,简称AGV)作为一种自动化物流装备,越来越多地应用到物料搬运、装配等各种场合。针对未知环境下AGV定位和地图创建问题,提出了局部地图创建-定位-更新全局地图的方法和步骤。利用激光雷达数据,采用"聚合-分割-聚合"的方法并运用动态阈值获得精确的局部地图。通过匹配局部地图和全局地图的线段关系,实现了AGV的定位和位置的更新,减少了AGV的系统误差和环境误差,进而完成了全局地图的创建与更新。实验证明,此算法可以在实现AGV定位的同时获得精确的环境地图,配合基于ARM Cortex-A9高速处理器为核心的嵌入式主控平台,有效的缩短了地图生成时间,实现实时地图的创建。

Automated guided vehicle（ AGV）,a kind of automatic logistics equipment,is used more and more in material handling,assembling and other occasions. In order to solve the problem of localization and mapping for the AGV under uncertainty environment,this paper introduces a process of local map building-robot localization-global map building,and adopting＂merge-dividemerge＂method and using dynamic threshold to get more accurate local maps with laser radar data,so as to realize the update of location of AGV and reduce the system and environment errors,as well as complete the creation and updating of overall map. The experimental results show that the method can acquire more accurate map with the embedded platform based on the ARM Cortex-A9 high speed processor,and achieve real-time mapping.