Here write custom directory title
For example, the laser reference trolley stops change, or multi-station a few people have much effect on the car position accuracy?
Positioning accuracy depends on the car's precision and accuracy of the laser radar positioning algorithm. Precision laser radar is the selection problem, not discussed here, here only discuss the issue precision positioning algorithm.
Hurray Shenzhen Hi-Tech company car probabilistic location algorithm and V groove reference positioning of the two algorithms.
Probabilistic location algorithm:
Probabilistic location algorithm is the most traditional way to study very mature, very broad application in the world, at home and abroad laser navigation and positioning algorithms are based on the principle of. When using the positioning method, positioning accuracy of the calculation depends on the environmental profile reference.
Where a: the map relative to the original, the more people outside the car when the location algorithm can recognize who is the obstacle, is calculated using only the remaining positioning reference, as long as the obstacle is not particularly large, there is not much effect on the positioning accuracy . Positioning accuracy can be achieved 5cm.
Case 2: the map relative to the original, the original object is outside the car moved away, the positioning algorithm can recognize an object to be moved away, with only the remaining reference positioning calculation, as long as the obstacle is not particularly large, the positioning accuracy is not much impact. Positioning accuracy can be achieved 5cm.
Case three: relative to the original map, the surrounding car full of people, or objects have all been moved away. This time the car is not a valid point of reference for positioning calculation, it relies on the position of the wheel mileage estimates, the accuracy decreases significantly. Positioning error greater than 5cm.
Referring to the V-groove positioning algorithm:
These defects probabilistic location algorithm, we have a very severe case of lower positioning accuracy, we use the method for positioning. "V groove" refers to a folded sheet metal using a 130 degree sheet metal, approximately 70cm long. Usually it is fixed to the fuselage above the docking station. Thus regardless of how changes in the reference side of the car, only the AGV vehicle is calculated by the V-groove self-position, remain stable positioning accuracy of ± 1cm.
For example, in the car stops, and the time required docking device, we can exercise mode switching instruction which, switched to the V-groove positioning algorithm.
Use of this method limits: Small car radar can see the completion of the V-groove, can not have a shield to block laser radar, or location failure.
Conclusion: ordinary running for less precision, using "probabilistic localization algorithm." It requires accurate using "V grooves reference positioning algorithm" para position stops
V video for a given navigation groove may refer to: http://www.huayou.tech/shipinzhanshi/2018/1128/16.html