With the refinement and scale of modern mushroom cultivation,automatic guided vehicles with precise navigation and positioning are needed to achieve transportation,so as to improve production efficiency.In order to improve the navigation and positioning accuracy of forklift AGV,a composite navigation method combining la-ser navigation and inertial navigation is proposed.In order to solve the problem of multi-sensor data fusion,an optimal pose estimation method for forklift AGV based on AUKF algorithm is proposed.The position and attitude information of the next moment is predicted according to the kinematics equation;the system observation obtained by the inertial navigation sensor is used to modify the predicted position and attitude information;the absolute po-sition and attitude information obtained by the laser navigation sensor is used to correct the accumulated offset of inertial navigation.The experimental results show that the composite navigation method has the advantages of small deviation,fast convergence and strong anti-interference ability.
关键词
叉车型自动导引车/复合导航/多传感器数据融合/卡尔曼滤波
Key words
forklift AGV/composite navigation/multi-sensor data fusion/Kalman filter
维普
万方数据