基于改进TEB算法的阿克曼机器人运动规划系统

Ackerman Robot Motion Planning System Based on Improved TEB Algorithm

TEB(timed elastic band)算法通过修饰全局路径规划生成的初始轨迹来优化机器人轨迹,得到一条满足机器人运动学动力学约束,避开障碍物,时间较优的轨迹。加速度的变化率过大会使机器人底盘电机输出的力矩突变引起机器人受到冲击震荡,加加速度的约束可使加速度的变化率限定在一个合理的范围,在TEB方法中缺少加加速度约束的基础上,对原始TEB算法进行改进,在轨迹优化过程中构建了具体的加加速度的约束,并在Stage仿真平台对改进TEB算法进行了仿真和在真实的阿克曼机器人上进行了实现,实验结果表明:得到的轨迹满足运动学、动力学,避开障碍物的要求而且平滑,真实机器人运动平顺。可见,改进的TEB算法适用于阿克曼机器人,规划的轨迹效果较好。

The timed elastic band(TEB)algorithm optimized the robot trajectory by modifying the initial trajectory generated by global path planning,and obtained a trajectory that satisfied the constraints of robot kinematics and dynamics,avoided obstacles,and had less total time.If the rate of change of the acceleration is too large,the sudden change in the torque output by the robot’s chassis motor would cause the robot to be shocked.The constraint of jerk could limit the rate of change of acceleration to a reasonable range.Based on the lack of jerk constraint in the TEB method,in the trajectory optimization process,specific jerk constraint was constructed.The improved TEB algorithm was simulated on the Stage simulation platform and implemented on a real Ackerman robot.The experimental result showed that the obtained smooth trajectory met the requirement of kinematics,kinodynamics,and avoided obstacles.It can be seen that the improved TEB algorithm is suitable for Ackerman robots,and the effect of planned trajectory is good.