Design of Dual-LiDAR High Precision Natural Navigation System

ABSTRACT

With the further development of online shopping and the impact of the COVID-19 pandemic, the logistics industry has further increased the demand for unmanned, automated warehousing and logistics handling. To realize intelligent warehousing and logistics handling, reliable positioning navigation technology is indispensable. Therefore, this paper designs a Dual-lidar high-precision natural navigation system based on the ROS (Robot Operating System) platform, which can fulfill the basic warehousing and logistics requirements. The natural navigation system uses the Lidar-SLAM method based on graph optimization to construct the 2D environment map, the PF (Particle Filter) algorithm in MRPT (Mobile Robot Programming Toolkit) is used for system positioning, and the real-time correction algorithm is used for motion control. On the built hardware platform, the navigation system completed the fixed-point cruise navigation task, and finally achieved a navigation accuracy of 4 cm and an average repeatable navigation accuracy of 6 mm. The designed navigation system has reference significance for multi-sensor fusion navigation. In reality, it can be applied to the transportation of warehousing and logistics, and it is expected to be mass-produced in the future.