Research On AGV Navigation System Based On Multi Sensor And Information Fusion

At present,the rapid development of artificial intelligence robot,robot technology has been widely used in intelligent manufacturing,intelligent logistics and intelligent substation,especially the use of AGV in industrial production has become more and more mature.Automatic guided vehicle(AGV)plays an important role in intelligent unmanned inspection,transportation,improvement of production efficiency and reduction of production cost in factory workshops.In the workshop,AGV positioning and navigation technology is the necessary guarantee for safe and efficient work.Therefore,this paper mainly focuses on the location and navigation technology of AGV.Firstly,the whole structure of AGV upper computer and vehicle body is introduced.Then,the problems of AGV motion system,location and navigation technology of multi-sensor information fusion of AGV,and the methods and Strategies of information fusion are studied.Finally,the research results are tested and verified.The main contents of this project are as follows:1.First,the background of AGV is introduced.Through analyzing the basic situation of AGV in the field of information fusion,the paper puts forward many existing problems,sets up research objectives for existing problems,analyzes the significance of research and determines the main research contents;Then,according to the actual needs,in order to be easy to deploy,the operation and maintenance and upgrade are convenient in the later stage,the overall structure of AGV is designed and its working principle is introduced;The main design of the car body structure,power system,control system,introduced the functions of each module,each module main function device selection;Finally,according to the design requirements of AGV system,the hardware circuit diagram of control system is designed.2.On the basis of convenient deployment and construction,grid method is used to establish the environment map model.The paper studies the map construction and location method based on lidar,and extracts the environmental information features collected by lidar by using the slam method of lidar,and realizes the AGV map construction and absolute positioning;Then,AMCL ranging and positioning algorithm is improved to improve the positioning accuracy.The information collected by inertial sensor and the information collected by odometer are processed to realize the relative positioning of AGV.Based on the above two positioning methods,absolute positioning and relative positioning,the location information fusion strategy is designed.The results show that the location method after data fusion can solve the problem of AGV location interference more effectively.3.The AGV navigation method based on the combination of laser navigation and inertial navigation is adopted to realize AGV navigation.Firstly,the common global navigation methods are introduced,and the research on inertial navigation technology is carried out;Then,for the problem of inaccurate positioning and drift of the direct collected navigation data,the fuzzy PID algorithm is used to process the acquired navigation data,and the navigation effect is significant after the processing;Aiming at the two navigation methods of lidar navigation and inertial navigation,according to the information fusion information level,the fusion strategy is designed and the navigation information fusion model based on Kalman filter is established;Finally,the method of obstacle avoidance is designed.According to the sensor and AGV operating parameters used in positioning,navigation and obstacle avoidance,the corresponding control strategies are formulated under different operating conditions.4.This paper selects the development language and database,and designs the function modules of AGV software system by programming.After the design and installation of AGV software and hardware system,the two are connected to debug and test the overall function of the system.The effectiveness and practicability of the control strategy and algorithm based on multi-sensor information fusion are verified.Based on the above design,through the establishment of software and hardware experimental environment and practical application in the factory workshop,the test results show that the AGV is easy to install,operate and upgrade,and can operate normally under the working condition.After information fusion,the positioning accuracy and navigation accuracy are improved.The AGV designed in this project has achieved the expected goal.