Research on special omnidirectional chassis AGV based on LiDAR reflective column positioning

Abstract In recent years, with the general trend of factory automation and intelligent development, automatic guided vehicles (AGV), as an important component of factory logistics handling systems, are gradually replacing manual forklifts. The AGV chassis control system and navigation and positioning system play an important role in the middle. The chassis control system can realize various complex actions, while the navigation and positioning system calculates the posture of the AGV in real time based on the acquired signals, providing a basis for accurate positioning and navigation. LiDAR can obtain its position information by emitting lasers to objects and recovering signals with an accuracy of centimeter level. However, in stereoscopic warehouses, LiDAR is easily affected by goods, and its accuracy is reduced. In addition, the space for forklifts to rotate in narrow aisles is small, which limits its use. To solve these problems, an AGV with a special omnidirectional chassis and using reflective columns for positioning is designed, which not only effectively reduces costs but also improves parking accuracy from 11.0 mm to 5.5 mm, ultimately improving safety.