Research on AGV map building and positioning based on SLAM technology

摘要

The most fundamental requirements for achieving accurate navigation of mobile robots are localization, map building and path planning. Currently, the mainstream methods include magnetic peg navigation, laser navigation, and 2D code navigation, etc. SLAM technology has the advantages of automation, intelligence, environmental adaptability, and low cost, and AGVs using this algorithm have been widely used in indoor applications and logistics transportation. Therefore, the SLAM (Simultaneous Localization and Mapping) algorithm based Automated Guided Vehicle (AGV) has become a hot research topic at home and abroad. In this paper, we investigate the SLAM algorithm in AGV system, and build indoor and logistics simulation environment maps based on 2D laser SLAM technology of Hector, Cartographer, Gmapping and Karto algorithms, and compare them by building accuracy index. The results show that the Hector algorithm has faster map building speed and accuracy, and is more suitable for indoor and logistics AGV systems.