LiDAR Positioning Algorithm Based on ICP and Artificial Landmarks Assistance

• Published in: Sensors (Basel, Switzerland) Vol. 21; no. 21; p. 7141
• Main Authors: Zeng, Qingxi, Kan, Yuchao, Tao, Xiaodong, Hu, Yixuan
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 28.10.2021; MDPI
• Subjects: Algorithms; Automated guided vehicles; Compasses; ICP with landmarks; Kalman filters; landmarks detection; Localization; Logistics; Noise; Radio frequency identification; reflector matching
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s21217141

As one of the automated guided vehicle (AGV) positioning methods, the LiDAR positioning method, based on artificial landmarks, has been widely used in warehousing logistics industries in recent years. However, the traditional LiDAR positioning method based on artificial landmarks mainly depends on the three-point positioning method, the performance of which is limited due to landmarks’ layout and detection requirements. This paper proposes a LiDAR positioning algorithm based on iterative closest point (ICP) and artificial landmarks assistance. It provides improvements based on the traditional ICP algorithm. The result of positioning provided by the landmarks is used as the initial iteration ICP value. The combination of the ICP algorithm and landmarks enables the positioning algorithm to maintain a certain positioning precision when landmark detection is disturbed. By comparing the proposed algorithm with the positioning scheme developed by SICK in Germany, we prove that the combination of the ICP algorithm and landmarks can effectively improve the robustness under the premise of ensuring precision.