Research on AMCL Algorithm Coupled with DWA Algorithm in Logistics Scenarios

摘要

Logistics robot is a kind of indoor static scene mobile robot for logistics sorting scene. By using laser radar real-time positioning and mapping, the mail is delivered to the mailboxes of various provinces. Compared with the general activity scene, the positions of obstacles, delivery boxes and sorting stations in the logistics sorting scene are relatively fixed, and the number of static obstacles is large, which requires higher navigation accuracy and pose adjustment of the robot. In order to improve the performance of the robot, this paper proposes an improved ACML adaptive positioning algorithm that integrates DWA algorithm. By adjusting and correcting the DWA parameter value, the adaptive positioning accuracy and real-time positioning rate of the logistics robot are improved. The experimental results show that the ACML adaptive positioning algorithm integrated with DWA algorithm is about 13.6818 % higher than the previous general ACML positioning algorithm in the obstacle avoidance rate of the logistics robot, which effectively makes the number of particles collected by the sensor more uniform and reasonable. To a certain extent, it shortens the positioning calculation time, improves the positioning effect, and improves the efficiency of the robot in identifying, grasping and delivering mail.