A Data Acquisition and Processing Method for Logistics AGV Obstacle Detection LiDAR

摘要

In the semi-structured logistics warehouse AGV (Automated Guided Vehicle) to achieve environmental awareness is the key to its own obstacle avoidance. In order to realize the purpose of logistics AGV, the paper first analyzes the working principle of LiDAR, and then designs and realizes the data acquisition and control of LiDAR. Finally, it is applied to the laser radar data processing is performed, including the reduction of the number of invalid data points and the adaptive threshold of the nearest neighbor clustering for regional segmentation. The results show that the laser radar data acquisition system and the real-time and effect of clustering segmentation have good effect on the subsequent feature point extraction and obstacle judgment.