Ackermann mobile robots based on improved TEB algorithm
Aims:When the traditional TEB algorithm is used for navigation in a complex environment,the robot will run close to the obstacle or"grab position"with the obstacle leading to the sudden acceleration and pumpy increasing the risk of collision.To solve these problems,an improved TEB algorithm is proposed.Methods:Firstly,the boundaries of obstacles were expanded to maintain a safe distance between the robot and the obstacles.Secondly,the acceleration constraint was added to the algorithm to reduce the speed jump of the robot during movement and smooth the planned path.Finally,the experiments were carried out in ROS to improve the TEB algorithm on the Ackermann car body.Results:Simulation results showed that the improved TEB algorithm could reduce the vibration number of the robot by 45.5％,and the range of line and angular acceleration by 13.1％and 31.2％.The trajectory planned by the algorithm in the complex environment was safer and smoother,and could effectively reduce the speed mutation of the robot during navigation.Conclusions:The improved TEB algorithm is suitable for the Ackermann robot to help it move more reasonably.
万方数据
维普
