基于Eband算法的运动控制平滑性优化

Optimization of motion control smoothness based on Eband algorithm

为提高机器人行走的速度与动作的连贯性,减少机器人运动卡顿,使用一种类似时间弹性带(timed elastic band,TEB)的局部路径规划算法——Eband(elastic band)。该局部规划器动态避障效果显著,可以提前规划出避开障碍物的路径,使机器人更早做出动作和反应。但其运动控制随着“气泡”的波动变化,导致路径平滑性有所欠缺,主要针对Eband的运动控制平滑性进行曲率算法优化、速度乘积因子去噪和速度插值,通过对比实验验证了算法的有效性和可行性。

To improve the speed of the robot walking and consistency of the robot action, and reduce movement jamming of the robot, a local path planning algorithm similar to TEB(timed elastic band), namely Eband(elastic band), was used. The dynamic obstacle avoidance effect of the local planner was remarkable, and the path to avoid obstacles could be planned in advance, so that the robot made actions and reactions earlier. However, its motion control changed with the fluctuation of bubble, which sometimes resulted in unsmooth path. The curvature algorithm optimization, velocity product factor denoising and velocity interpolation for the smoothness of Eband motion control were mainly carried out, and the effectiveness and feasibility of the algorithm was verified through comparative experiments.