Abstract: As an important material handling equipment in intelligent manufacturing, AGV’s navigation and positioning accuracy and flexible path configuration performance restricted the applications in intelligent manufacturing. Aiming at this problem, an AGV integrated navigation method was proposed herein based on inertia and vision, which made use of the complementary advantages of the two navigation technologies to achieve high-precision navigation and positioning, and improved the adaptability of AGV to the working environments and navigation reliability. On the basis of this, the AGV working grid map was constructed by a two-dimensional code label, and the grid map was used to realize the flexible configuration of the AGV driving paths. The test results show that the composite navigation method designed may realize the navigation and positioning accuracy of longitudinal 5mm, lateral 10mm, and directional deviation 1°.

Key words: automated guided vehicle (AGV), composite navigation, two-dimensional code, cumulative error

摘要： 自动导引小车(AGV)作为智能制造的重要物料搬运设备，其导航精度及路径柔性配置性能制约了其在智能制造领域的应用范围。针对这一问题，提出了基于惯性和视觉的AGV复合导航方法，利用两种导航技术的互补优势，实现高精度导航定位，提高了AGV对工作环境的适应能力和可靠性。在此基础上，利用二维码标签构建了AGV工作栅格地图，实现了AGV行驶路径的柔性配置。测试表明复合导航方法具有纵向5mm、侧向10mm、方向偏差1°的导航定位精度。

关键词: 自动导引小车(AGV), 组合导航, 二维码, 累积误差