机械制造与自动化2025，Vol.54Issue(2)：131-134,151,5.DOI:10.19344/j.cnki.issn1671-5276.2025.02.025
激光雷达与编码器融合的叉车AGV定位算法研究
Research on Forklift AGV Localization Algorithm with Fusion of Lidar and Encoder
摘要
Abstract
A laser radar and encoder complementary fusion positioning algorithm suitable for indoor forklift AGV is proposed to address the problem of large errors in the synchronization tracking and positioning process.The algorithm uses the velocity information collected by the encoder to construct a complementary filtering weighted function preprocessing the radar data and reducing data distortion.Feature matching is performed on the processed frame data to reposition the current trajectory's pose information.To address the issue of tracking position jumps caused by the delay in radar data acquisition,the encoder data is used for post-processing of the current trajectory's pose to achieve complementary fusion,thereby achieving global positioning and tracking of the forklift AGV.Experimental results show that under the conditions of a narrow and long corridor workspace,the optimized fusion method reduces positioning errors by 47.79%,and has high positioning accuracy and low time complexity,which meets the requirements of low-computing-power forklift AGV positioning and tracking.关键词
激光雷达/编码器/互补滤波/跟踪定位/叉车AGVKey words
laser radar/encoder/complementary filter/tracking and positioning/forklift AGV分类
电子信息工程引用本文复制引用
田浩杰,邱亚峰,严小虎,刘康,李前位..激光雷达与编码器融合的叉车AGV定位算法研究[J].机械制造与自动化,2025,54(2):131-134,151,5.基金项目
国防预研基金项目(1171011485) （1171011485）
