Research on AGV Global Positioning Algorithm Based on Reflector and Lidar

In order to improve the accuracy, stability, and robustness of AGV positioning with the use of the Cartographer algorithm, this paper proposes a global positioning algorithm strategy that integrates the reflector coordinate points as reference points for the trilateral positioning algorithm with the cartographer. Firstly, the shortcomings of existing cartographers in pure positioning were introduced. Then, two commonly used positioning algorithms were elaborated, and they were fused using reflective plates and cartographer algorithms. Static and dynamic experiments were conducted in real environments. The two experiments verified that the trilateral positioning algorithm has smaller errors, stronger stability, and better accuracy than the triangular positioning algorithm.