基于激光雷达的差速AGV精确接驳方法研究  

Research on precise docking method of differential AGV based on LiDAR

作　　者：闫照 辛大欣[1] 曹鹏祥 YAN Zhao;XIN Daxin;CAO Pengxiang(School of Electronics and Information Engineering,Xi’an Technological University,Xi’an 710021,China)

机构地区：[1]西安工业大学电子信息工程学院,陕西西安710021

出　　处：《传感器与微系统》2023年第11期53-57,共5页Transducer and Microsystem Technologies

摘　　要：针对差速自动导引车(AGV)在与工作平台横向接驳时停靠间隙过大问题,本文提出了AGV精确接驳方法。该方法采用激光雷达(LiDAR)作为探测装置,对雷达数据进行线段分割后,依据定位的特定角点位置来推算差速AGV位置与姿态信息,结合轨迹规划算法获得精确接驳轨迹,实现差速AGV精确接驳。实验结果表明:该方法在实验环境中更易识别角点特征,定位误差小于0.01 m,能够精确接驳工作平台,验证了本文提出方法的科学性与可行性。Aiming at the problem of excessively large parking gap when the differential automatic guided vehicle(AGV)is laterally docked with the working platform,a precise docking method for AGV is proposed.This method uses LiDAR as the detection device,after line segmenting the radar data,calculate the position and attitude information of the differential AGV,according to the position of the located specific corner point and combining the trajectory planning algorithm to obtain the precise docking trajectory,and realize the precise docking of differential AGV.The experimental results show that the method is easier to identify corner features in the experimental environment,the positioning error is less than 0.01 m,and it can be accurately docked with the working platform,which verifies the scientificity and feasibility of the proposed method.

关 键 词：差速自动导引车 精确接驳 激光雷达 角点特征 轨迹规划 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]