SLAM导航的堆垛式叉车AGV研究与设计  

Research and Design of Stack Forklift AGV Based on SLAM Navigation

作　　者：张彦[1] 李恒恒 肖献强[1] 王家恩[1] ZHANG Yan;LI Hengheng;XIAO Xianqiang;WANG Jia’en(School of Mechanical Engineering,Hefei University of Technology,Anhui Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械设计与制造》2025年第2期354-357,362,共5页Machinery Design & Manufacture

摘　　要：自动导引车(Automatic Guided Vehicle,AGV)作为智能制造系统的重要组成部分之一,为智能制造系统提供柔性物料搬运,其无人化趋势已是必然。针对此,这里研究开发了基于同步定位与建图(Simultaneous Localization and Map⁃ping,SLAM)导航的堆垛垛式叉车AGV,提出了一种基于IEPF算法(Iterative End Point Fit,IEPF)以及最小二乘法的雷达点云线段提取方法,在此基础上,研究基于线段特征匹配的SLAM定位算法,并将设计的SLAM导航算法移植到试验车测试。测试结果表明这里设计的基于激光SLAM导航的堆垛式叉车AGV具有较好的稳定性,能够实现横向7mm、纵向13mm的定位误差,为无人叉车的研究提供了技术支撑。As an important part of intelligent manufacturing system,Automatic Guided Vehicle(AGV)provides flexible material handling for intelligent manufacturing system,and its unmanned trend is inevitable.For this,a stack forklift AGV based on slam navigation is developed,and a radar point cloud segment extraction method based on iepf and least square method is proposed.On this basis,the slam positioning algorithm based on segment feature matching is studied,The slam navigation method are trans⁃planted to the test vehicle.The test results show that the stacking forklift AGV designed in it based on laser slam navigation has good stability,and can realize the positioning error of 7mm in the transverse direction and 13mm in the longitudinal direction,which provides technical support for the research of unmanned forklift.

关 键 词：智能制造 激光导航 线段特征 定位算法 

分 类 号：TH16[机械工程—机械制造及自动化]