Research and implementation of AGV navigation method based on LiDAR synchronous positioning and map construction

LiDAR is a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam, which is mainly used in the field of unmanned driving. The realization of laser navigation technology in AGV (Automated Guided Vehicle) is mainly to locate and navigate by LiDAR, obtain the three-dimensional information of the surrounding environment in real time, and provide reliable navigation and obstacle avoidance function for AGV. In this paper, on the basis of analyzing the principle of laser navigation AGV, we propose a simultaneous localization and mapping method (Simultaneous Localization and Mapping, SLAM) based on LiDAR to obtain the motion information in the robot's surroundings through LiDAR, and then construct the map through Fast-SLAM algorithm. An improved Artificial Potential Field (APF) method is designed to quantify the convergence of the motion planning path, and based on the convergence, the adjustment factors of artificial gravitational field and artificial repulsive field are constructed, and the artificial gravitational field and artificial repulsive field are combined to obtain the artificial joint force field of the robot, so as to solve the problems of localization and unreachable target endpoints in the existing technology. In order to solve the problems of local optimization and unreachable target endpoint in the existing technology. The experimental results show that the optimal trajectory path is established by the artificial force field, and the trajectory navigation from the starting point to the target point is completed, the adaptability of AGV robot localization and the accuracy of map construction are improved.