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Parking Positioning Method for Automatic Guided Vehicle Based on MA-LM Algorithm
ZHANG Yuanchao1, 2, 3, YANG Guizhi1, 2, XUE Guang1, 3, YAO Hanchen3, PENG Jianwei3, DAI Houde3
Computer and Modernization
2024, 0 (05):
11-15.
DOI: 10.3969/j.issn.1006-2475.2024.05.003
Abstract: To address the challenge that autonomous navigation parking and charging solutions have poor positioning accuracy at long distances, resulting in AGVs not being able to align with the charging pile in automatic charging back mode, a parking positioning method based on an improved mayfly optimization algorithm (MA-LM) is proposed. This method fuses the magnetic nail positioning data from multiple magnetic sensor arrays, thereby improving the position accuracy and attitude accuracy of the parking positioning. To quantitatively evaluate the improvement effect of magnetic nail localization, this method is tested in a charging pile scenario using a sensor array of nine magnetic sensors and a two-wheeled differential speed mobile robot. Compared with the genetic optimization algorithm (GA-LM) and the particle swarm optimization algorithm (PSO-LM), the experimental results show that the MA-LM algorithm has the localization accuracy of ±1.65 mm and the orientation accuracy of 0.9° in the parking localization.
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