AGV Navigation Based on AprilTags2 Auxiliary Positioning

摘要

Aiming at the problems of poor flexibility, complicated path maintenance and poor positioning performance in the current guidance technology of AGV, this paper designs and implements a new navigation system of automated guided vehicle (AGV) based on AprilTags2 auxiliary positioning. The system uses the Robot Operating System (ROS) as a platform to develop AGV navigation functions. The navigation system comprises two parts: the hardware and software layers. Firstly, hardware selection is performed after considering the actual requirements, performance, cost, and other factors in the hardware layer. Simultaneously, the AGV chassis and single-steering wheel walking mechanism are built to provide a stable and flexible operating platform for the software layer. Secondly, the software layer design includes two parts, namely the ROS navigation planning end and AprilTags2 detection. The ROS planning navigation end performs the design of four functional modules (i.e., AGV map construction, autonomous positioning, path planning, and path tracking), while the AprilTags2 detection part obtains the visual positioning pose of AGV by setting the AprilTags2 on each site and using the Kinect1 camera to detect. A more accurate AGV pose can be obtained by merging the former pose with the kinematic estimated pose. Finally, the two groups of positioning errors of the system before and after adding the AprilTags2 auxiliary positioning are tested and compared. The experimental results show that the navigation accuracy of the proposed system with AprilTags2 auxiliary positioning is significantly improved.