Research on AGV Positioning and Posture Correction Using Static Data Enhancement
Automated guided vehicle(AGV)equipped with laser radar are widely used in the transportation of workpieces in intel-ligent factories.However,due to the influence of obstacles and moving objects,AGV has a weak ability to distinguish the position and posture in the workshop.In order to solve the problem of positioning and posture recognition,a new point cloud data fusion position and posture recognition strategy was proposed,using the high-precision static total station data to fuse the local and low-precision data of the laser radar,and the vector weight matching method was proposed to complete the indoor positioning of the AGV.A sampling grid convolution method was designed to realize the rapid preliminary location of heterogeneous data;the reference area for adaptive search of total station data was established and mapped to the corresponding area of laser radar data;finally,the pose parameters of AVG were obtained by vector weight matching.The above method was tested in 6 m×8 m indoor space.The results show that the positioning accura-cy of±7 mm and the posture control recognition accuracy of±1.4° can be achieved,and the scanning error of laser radar can be accu-rately compensated,and the position and posture recognition ability of AGV can be improved.
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