AGV indoor positioning and navigation with LiDAR map matching and QR code fusion

doi:10.13474/j.cnki.11-2246.2021.0002

Abstract

Abstract: There are various indoor positioning methods for automatic guided vehicle (AGV). LiDAR matching positioning is widely used, but in areas with few characteristic such as corridors, the lack of constraints leads to mismatching. In view of this problem, this paper proposes a combined navigation method of LiDAR and QR code landmarks, and uses turtlebot3 to perform simulation experiments in an indoor corridor environment. The results show that the average error of laser matching navigation is 11.5 cm, The combined navigation method can control the average error within 2 cm. This method can achieve accurate positioning and navigation of AGV in a scene with low characteristics, and improves its adaptability and reliability to the working environment.

Key words: LiDAR, QR code, indoor positioning, AGV, navigation

CLC Number:

P228

ZHOU Zongkun, JIANG Weiping, TANG Jian, WANG Yiwen, OUYANG Wenyi. AGV indoor positioning and navigation with LiDAR map matching and QR code fusion[J]. Bulletin of Surveying and Mapping, 2021, 0(1): 9-12,52.

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