A Complete Solution for AGV SLAM Integrated with Navigation in Modern Warehouse Environment

摘要

Automated Guided Vehicle (AGV) is a common handling equipment in modern logistics. The application of traditional AGV in warehouse requires designated infrastructure with readily available map which demands large amount of investment and warehouse conversion. Researches in AGV localization and mapping in SLAM overcome these disadvantages, however, are usually separated from navigation. The main purpose of this paper is to provide a complete solution including localization, mapping and navigation for AGV working in modern warehouse. EKF-SLAM (SLAM based on extended Kalman filter) is proposed for mapping and localization and pure pursuit algorithm is presented for navigation. Consequently, AGV is able to localize itself automatically and trace the path accurately in the whole handling process even in a dynamic and unstructured environment. Besides, it improves the working efficiency, system flexibility and reduces constructing cost.