LIDAR EKF-SLAM Technology and Its Application in Automated Guided Vehicle Navigation

Jiying Ren, Mengyuan Wei, Lihong Zhang, Qingwei Chen, Ao Xie, Jun Zhou, Panling Huang, Lei Li


Automated Guided Vehicles (AGV) with magnetic navigation and electromagnetic navigation have lower path flexibility due to the need to lay the path ahead of time. The Simultaneous Localization and Mapping (SLAM) is mature in technology theory, so that this technique is applied to the AGV navigation. The laser sensor is used to acquire the information in the location environment for immediate location and mapping, so that carry out the path planning and complete the AGV autonomous navigation. Extended Kalman Filter (EKF) is the most common solution for laser SLAM. Firstly, this paper analyzes the research results of EKF-SLAM at this stage and its limitations. Secondly, it discusses the application of EKF-SLAM in AGV and the development direction in the next stage. By comparative analysis shows that laser EKF-SLAM can meet the requirements of AGV navigation. The development of EKF-SLAM algorithm in positioning, mapping accuracy and the ability to solve interferences in dynamic environment has an important reference for the reliability of AGV navigation.


Laser sensor, EKF-SLAM, AGV


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