LOCAL PATH PLANNING METHOD BASED ON SMOOTH TIME ELASTIC BAND ALGORITHM FOR ORCHARD ROBOTIC LAWN MOWER

摘要

This paper proposes a local path planning algorithm method named S-TEB (Smooth Time Elastic Band), aimed at fulfilling the requirement of full coverage for ORLMs (Orchard Robotic Lawn Mowers) during mowing operations. Firstly, by analyzing the tracking control mode of ORLMs in operational scenarios, control points are selected reasonably. Subsequently, utilizing B-spline curves, the path is optimized to generate the optimal trajectory and speed for ORLMs that satisfy multiple objectives and constraints. Finally, multiple simulations and field experiments were conducted in actual operational environments, with a speed of 0.6 m/s. Experimental results show that in scenarios involving obstacle avoidance, the minimum distance between the automatic lawnmower and the outer contour of obstacles is 4 cm. Compared to the traditional TEB planning algorithm, there is a 4.23% increase in mowing coverage area. These findings provide theoretical and technical support for local path planning in the operational scenarios of ORLMs.