Design Of AGV Navigation System Based On 2D Laser SLAM

With the continuous development of robotics,an increasing number of intelligent robots are being used in different applications.AGV(Automated Guided Vehicle)is one of them,which has been widely used in many scenarios.For example,in the logistics industry,AGVs have an important significance in reducing labor costs,increasing production capacity,and completing hazardous operations.However,the current AGV navigation and positioning method also possesses problems such as poor flexibility,fixed path,and single applicable scenario.The research content of this paper comes from a project commissioned by the enterprise:the development of an AGV navigation system based on 2D laser SLAM(Simultaneous Localization and Mapping).The ultimate goal of the project is to develop an unmanned automatic inventory machine for warehouses in garment factories.This is the Phase I of the project,which involves the design of a principle prototype based on 2D laser SLAM autonomous navigation.In this paper,the research design of AGV autonomous navigation system based on 2D laser SLAM is carried out from three aspects: hardware selection of the system,algorithm research of the system,and software design of the system.Finally,the effectiveness of the designed system is verified through experiments.The system hardware was built with TRACER chassis from Agile X Robotics(Shenzhen),SLAMTEC S2 2D LIDAR,and GY-85 micro IMU(Inertial Measurement Unit).Multi-sensor fusion such as LIDAR,IMU,and wheel encoder are used to provide accurate measurement of the real-time position of the AGV,as well as real-time sensing of environmental information for dynamic and static obstacle avoidance.In terms of the research and implementation of SLAM and autonomous navigation algorithm,firstly,three commonly used laser SLAM algorithms are tested in Nanlin Yifu Building to compare the accuracy and performance of map construction,and select the actual map construction algorithm suitable for this subject.Then there is the actual map construction and autonomous navigation experiment inside and outside the school.Firstly,the navigation environment is perceived and mapped based on Karto＿SLAM algorithm to complete the construction of the environment map.Then,on this basis,the path planning,autonomous navigation and obstacle avoidance are carried out to successfully achieve the autonomous navigation of AGV to the target point,which verifies the reliability of the designed system.This project is an innovative application of 2D laser SLAM map building and autonomous navigation method to the inventory equipment of domestic factory warehouses,which is of great research significance for realizing unmanned and intelligent garment factories.