Abstract: A reflector matching algorithm based on triangle perimeter matching includes recording the position information of known reflectors in a map one by one, generating a scene coordinate point layout, taking points of the recorded reflectors and freely combining basic triangles with all side lengths not exceeding twice of the maximum detection distance of a laser sensor; recording all the combined basic triangles, then recording the corresponding side lengths, the position of each vertex, and the perimeter of each basic triangle, and saving the records in an AGV; reading the angle and distance information of the reflectors and freely combining detection triangles for the detected reflectors; and respectively calculating the side lengths and perimeters of the detection triangles, and searching and pairing in the basic triangle combination to determine the real-time position of the laser sensor.

Abstract: A navigation errors correction method based on magnetic nail positioning includes a magnetic nail is set within the moving area of AGV, and an information-bearing magnetic field mode is established according to magnetic field formed and stored in a navigation device. The method further includes a navigation device in AGV guides movement of AGV; a magnetic sensor on AGV detects features of magnetic field on movement track. Contrast features of magnetic field detected by magnetic sensor with those of magnetic field mode prestored by navigation device, and reckon the relative position of magnetic nail and AGV. Based on relative position of magnetic nail and AGV, reckon current position of AGV, the navigation device adjusts position and orientation of AGV and guides AGV to repair movement errors based on reckoning position of AGV.