Research On High Precision Navigation Positioning And Path Planning Algorithm Of Medical Logistics AGV

With the rapid development of AI technology,mobile robots are increasingly widely used in the medical logistics and transportation industry.Automatic Guided Vehicle(AGV)is an autonomous mobile robot with good flexibility and controllability.Therefore,the application of AGV in medical logistics will become a major trend in the development of medical logistics and transportation.Navigation positioning and path planning are the core technologies to realize the intelligent transportation of medical logistics AGV,so this thesis conducts in-depth research on this technology.Through the research and analysis of AGV autonomous navigation and positioning technology,a high-precision reflector navigation and positioning system based on lidar is designed and implemented,which has the advantages of high positioning accuracy,fast processing speed,good robustness,and no cumulative error.Through the motion compensation algorithm and the reflector matching algorithm,the precise positioning of the AGV during the movement process can be achieved,which can effectively ensure that no navigation mismatch occurs during the actual driving process of the medical logistics AGV.Due to the complexity of hospital logistics warehouses,hospital wards,corridors and other environments,AGV path planning is challenging to some extent.In addition,the traditional A* path planning algorithm has problems such as low path finding efficiency and large path turning angle,which cannot calculate the optimal path.Therefore,an improved A*algorithm is proposed as the global path planning algorithm.By optimizing the evaluation function of the traditional A* algorithm,the global path planning is realized by using the path smoothing strategy to eliminate the path jumble turning point,and the dynamic window method is used to carry out the local path planning to effectively avoid obstacles and complete the dynamic path planning of AGV.According to the simulation data,the improved A* algorithm improves the path search efficiency by 66.8% compared with the traditional A* algorithm.In terms of path length,the improved A* algorithm reduces by2.3% compared with the traditional A* algorithm.In terms of path smoothness,the improved A* algorithm reduces the path turning Angle by 57.2% compared with the traditional A* algorithm.Finally,the Robot Operation System and AGV hardware platform are configured to design and package each functional module,and different experimental environments are set to verify the dynamic path planning algorithm of AGV.This text mainly realized two aspects of the research content,one is to achieve a high precision reflector navigation and positioning system based on laser radar,which can achieve high precision real-time navigation and positioning of medical logistics AGV;Second,a path planning algorithm combining improved A* algorithm and dynamic window method is implemented,which can plan an optimal global path from the starting point to the target point for medical logistics AGV and realize real-time local obstacle avoidance,which meets the application requirements of medical logistics AGV.