基于激光SLAM导航的AGV智能仓储系统设计

Design of AGV Intelligent Storage System Based on Laser SLAM Navigation

摘要: 在智能化、无人化、信息化快速发展的时代，以AGV为代表的智能仓储系统已经成为了工业新兴的研究热点。由激光雷达构成的感知系统，是智能仓储系统中AGV的重要组成部分。激光雷达可以通过激光对周围物体进行实时扫描，计算出自身相对位姿，目前激光定位的精度可达1 cm，且精度不会受到光照等条件的影响，但对于工厂中窄巷道货物的存取，目前还存在一些困难。本项目针对这一问题，设计出一种侧叉式AGV实现了对窄巷道货物的双向存取，达到了对于仓储系统的智能化建设及高效利用的目的。

Abstract: In the era of rapid development of intelligence, unmanned and information technology, intelligent storage system represented by AGV has become a research hotspot of emerging industry. The sensing system composed of LiDAR is an important part of AGV in intelligent storage system. Lidar can scan the surrounding objects in real time through the laser, calculate its own relative posture, the accuracy of laser positioning can reach 1 cm, and the accuracy will not be affected by lighting and other conditions, but for the access of narrow tunnel goods in the factory, there are still some difficulties. Aiming at this problem, this project designs a side-fork AGV to realize the two-way ac-cess of narrow roadway cargo, and achieves the purpose of intelligent construction and efficient utilization of storage system.