The local coordinate system is defi

The local coordinate system is defined as the AGV body as the base surface and the laser scanner mounted on the body as the origin to establish the coordinate system (X ',Y '). As shown in Figure 3.2, the positive direction of the X axis is the forward direction of the AGV, which will change continuously with the advance of the AGV.So it's also called the moving coordinate system.The position and Angle (X1S,Y1S,) of the reflector detected during navigation driving can be obtained through the local coordinate system, and static and dynamic matching of the reflector can be realized according to the measured distance L from the reflector to the AGV, so as to obtain the pose information of the AGV body in the global coordinate system.