基于二维激光雷达的AGV小车定位研究

Research on AGV Trolley Positioning Based on 2D Laser Radar

对于AGV小车的移动、路径规划、规避障碍等,激光定位技术是实现小车导航的核心。判断小车是否偏离航行轨迹和是否到达设定位置,只有准确的知道小车任意时刻的位置,才能对导航做出正确的判断,精确的定位是实现AGV小车自主导航的前提条件。因此,提出利用激光雷达和放置好的反射板之间匹配,根据反射板的全局坐标,再通过三边定位算法,由此可以精确的得到小车在全局坐标的具体位置。

For the movement,path planning and obstacle avoidance of AGV cars,laser positioning technology is the core of car navigation.Judging whether the car deviates from the navigation trajectory and whether it reaches the set position,only accurate knowing the position of the car at any time can make a correct judgment on the navigation.Precise positioning is the precondition for realizing the autonomous navigation of the AGV car.Therefore,it is proposed to use the matching between the laser radar and the placed reflector,according to the global coordinates of the reflector,and then through the three-side positioning algorithm,thereby obtaining the specific position of the trolley in the global coordinates.