Research On Mapping And Localization Of Indoor AGV Based On Lidar

In recent years,with development of logistics industry,more demands are proposed for material transportation.AGV is a new type of logistics automation equipment which applied to manufacturing frequently.With the development of the AGV navigation and positioning technology,laser navigation became the mainstream of AGV navigation.Based on the indoor environment as the application background,the thesis makes fundamental research on the laser radar positioning algorithm of AGV.In the geometry feature map,choose the method of extracting eigenvalue by angle point and line characteristic.Considering the influence from environment characteristic when extracting Angle point,the improved angle point extracting method is presented.In the environment in the process of feature matching,this paper puts forward introducing regional segmentation points match in straight line to reduce the false matching probability.And validated it by simulation experiments.Secondly this paper introduced the probability model of SLAM and particle filter algorithm in the application of the SLAM.this paper deduce four kinds of particle filter algorithm,and improve the particle filter algorithm and at last take the simulation experiments to verify the improvement effect.