TEB算法参数对智能车路径规划的影响仿真分析

Simulation analysis of the infl uence of TEB algorithm parameters on intelligent vehicle path planning

本文针对智能车在室内环境的路径规划,分析研究了TEB算法不同参数对智能小车的路径规划影响。仿真结果表明,5大参数中有部分关键参数对智能小车的路径规划生成影响重大。需要设置最优的值才能最终获得一条时间最短、距离最短、避开障碍物的最优路径。才能让智能小车进行路径规划并跟踪路径顺利到达目标点。

Aiming at the path planning of smart car in indoor environment,this paper analyzes and studies the influence of different parameters of TEB algorithm on the path planning of intelligent vehicle.The simulation results show that,some of the key parameters in five parameters have a significant impact on the path planning generation of the intelligent vehicle.You need to set the optimal value to finally obtain an optimal path with the shortest time,the shortest distance and the avoidance of obstacles.Only then the intelligent vehicle can plan the path and track the path to reach the target point smoothly.