一种提高SLAM-AGV末端对接精度的方法研究

A Research on the Method of Improving the Docking Accuracy of SLAM-AGV Terminals

在介绍SLAM-AGV激光导航实现过程的基础上,针对目前实际应用中AGV与设备对接精度不高,经常出现偏航、避障、急停频繁、对接时位姿调整不充分的问题,通过改进末端设备识别标识,增加Cartographer算法中的位姿优化节点,设置相对位姿导航切换点,将绝对位姿导航和相对位姿导航相结合的方法,大幅度提高AGV的定位稳定性和精度。现场实测数据表明,改进后AGV与末端设备的对接成功率和对接精度均有大幅提高。

Based on the introduction of the implementation process of SLAM-AGV laser navigation,addressed are the problems of low docking accuracy of AGV and equipment in practical applications,frequent yawing, obstacle avoidance, frequent emergency stops, and inadequate adjustment of attitude to the docking point by improving the end equipment identification mark, adding the attitude optimization node in Cartographer algorithm, and setting the relative attitude navigation switching point to combine absolute attitude navigation and relative attitude navigation. The combination of absolute and relative posture navigation can significantly improve the stability and accuracy of AGV positioning. The field measurement data shows that the docking success rate and docking accuracy of AGVs and end devices have been greatly improved.