Robot planning and control method based on improved time elastic band algorithm

摘要

For the planning and control system of differential mobile robots, the traditional time elastic band (TEB) algorithm has a long obstacle detection time and cannot complete dynamic planning in complex environments. At the same time, the control quantity calculated by TEB based on the trajectory point sequence difference has a jump, which results in poor control effect and unstable steering. By simplifying complex obstacles with RANSAC (Random Sample Consensus) algorithm, the collision detection time can be reduced and the algorithm computation can be reduced. At the same time, based on the optimal preview strategy, a nonlinear proportional function of tracking error is defined to recalculate the robot control quantity, so as to reduce the jump and make the operation control more stable. Finally, a robot navigation system based on ROS is built for experiments. The experimental results verify the effectiveness of the method and improve the real-time performance and reliability of differential robot planning and control.