基于图优化的激光AGV二维SLAM定位算法综述

Overview of 2D SLAM Localization Algorithm for Laser AGV Based on Graph Optimization

在柔性生产系统、仓储物流和智能化仓库装配中,AGV(Automated Guided Vehicle,自动导引车)定位对于提高物流自动化程度,实现智能化具有关键作用。基于激光的AGV定位技术具有定位精度高、路径柔性高和智能化程度高的优点,是现如今投入研究的定位方式之一。首先介绍激光AGV在现代社会中应用,对激光SLAM(Simultaneous Localization and Mapping,同时定位与地图构建)的基本原理进行简单概述,并按照其历史发展分析基于图优化的激光SLAM方法的优势与作用,最后提出对激光SLAM存在的问题以及未来的发展趋势。

In flexible production system,material handling and automated warehouse assembly,AGV(Automated Guided Vehicle)positioning plays a key role in improving the degree of logistics automation and realizing intelligent.AGV positioning technology based on laser has the advantages of high positioning accuracy,high flexibility and high degree of intelligence,which is one of the most researched positioning methods.Firstly,this paper introduces the application of laser AGV in modern society,and briefly summarizes the basic principle of laser SLAM(Simultaneous Localization and Mapping).According to its historical development,analysis the advantages and functions of laser SLAM method based on graph optimization.Finally,it puts forward the existing problems and future development trend of laser AGV.