无线电工程2024，Vol.54Issue(1)：223-229,7.DOI:10.3969/j.issn.1003-3106.2024.01.029
TEB算法中机器人平稳避障策略研究
Research on the Stability of Obstacle Avoidance for Mobile Robots in TEB Algorithm
摘要
Abstract
The Time Elastic Band(TEB)algorithm is widely used for real-time local path planning and obstacle avoidance because of its kinematics constraints and fastest path constraints.However,in the case of navigation in unstructured and dynamic social environment,the speed output is unstable during strong turns,which is very unfavorable to the mobile robot in the whole forward process.To solve this problem,the trajectory curvature is introduced as a new constraint into the TEB algorithm,and the Curve Speed Control Time Elastic Band(CSC-TEB)algorithm is proposed.In the CSC-TEB algorithm,the maximum instantaneous speed of the mobile robot can be adjusted to some extent according to the degree of course change of the mobile robot's traveling path during the real-time obstacle avoidance process.Experimental results show that CSC-TEB algorithm can make the mobile robot have a more stable speed when avoiding obstacles,and output a smoother trajectory curve,avoiding the speed jitter phenomenon in the original TEB algorithm.In static and dynamic obstacle scenarios,the mobile robot has a more stable speed curve when passing through obstacles,and the total path time is reduced by15.02%on the premise of ensuring the robot's safety,thus improving the path planning efficiency on the whole.关键词
时间弹性带算法/移动机器人/路径规划/轨迹曲率/避障Key words
TEB algorithm/mobile robot/path planning/trajectory curvature/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
赵晓东,曹梦颖,宿景芳..TEB算法中机器人平稳避障策略研究[J].无线电工程,2024,54(1):223-229,7.基金项目
河北省高等学校科学技术重点研究项目(ZD2020318) （ZD2020318）
河北省教育厅青年基金(QN2023185)Science and Technology Research Project of Colleges and Universities of Hebei Province(ZD2020318) （QN2023185）
Youth Fund of Hebei Education Department(QN2023185) （QN2023185）
