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

时间弹性带(Time Elastic Band,TEB)算法由于其具有运动学约束、最快路径约束的特点被广泛用于实时局部路径规划和避障,但是在非结构化的动态社会环境进行导航的情况下,强转弯时存在速度输出不稳定的问题,这对于移动机器人的整个前进过程是非常不利的。为了解决这一问题,将轨迹曲率作为一种新的约束引入TEB算法,提出了基于曲率速度控制的时间弹性带(Curve Speed Control TEB,CSC-TEB)算法。在CSC-TEB算法中,移动机器人在实时避障时的最大瞬时速率能够根据其与行进路径的航向变化程度做出一定调整。实验结果表明,应用CSC-TEB算法能够使移动机器人在躲避障碍物时具有更加平稳的速度,同时输出较平滑的轨迹曲线,避免了原始TEB算法中的速度抖动现象。在静态和动态场景中,移动机器人躲避障碍物时具有更加稳定的速度曲线,保证机器人在安全避障的前提下路径总耗时降低了15.02%,从整体上提升了路径规划效率。

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 by 15.02%on the premise of ensuring the robot's safety,thus improving the path planning efficiency on the whole.