INTEGRATED NAVIGATION METHOD OF ELECTRIC FORKLIFT BASED ON IMPROVED UKF ALGORITHM
DOI : https://doi.org/10.35633/inmateh-65-52
When forklifts are used to move stored crops in a storage environment, the positioning system is severely affected by the presence of multiple stored crops and shelves and other complex factors in the environment. Aiming at the problems of low positioning and navigation accuracy and large accumulated error of forklift system, a Lidar/IMU integrated navigation and positioning method is proposed in this paper, which can improve the positioning accuracy of forklift truck in storage environment. Meanwhile, the improved EKF filtering algorithm is proposed in this paper which can optimize the navigation and positioning system. This method first extracts the environmental information obtained from Lidar scan measurements and the attitude information collected by the IMU. Then the output data from the two sensors are processed with the improved EKF filtering algorithm, which can improve the navigation and positioning accuracy when the forklift is working. The Lidar/IMU integrated navigation and positioning method proposed in this paper is validated by experiments simulating forklifts working in a warehouse environment in the laboratory. Through simulation experiments, it is verified that the improved EKF filtering algorithm in this paper can improve the positioning accuracy of forklift truck, accuracy of forklift movement trajectory, closer to the expected trajectory.
Abstract in Chinese