Navigation Simulation of Autonomous Mobile Robot Based on TEB Path Planner

摘要

The TEB (timed elastic band) algorithm optimizes the robot trajectory by modifying the initial trajectory generated by the global path plan, and obtains a trajectory that satisfies the robot kinematics and dynamics constraints, avoids obstacles, and has a better time. This paper improves the original TEB algorithm, constructs specific acceleration constraints for the car model during the trajectory optimization process, and implements an automatic navigation and obstacle avoidance system based on the Move_base package in ROS; the system provides positioning information by the AMCL method, and the rf2o algorithm provides radar Odometer information, the A algorithm is used to obtain the global path planning, and the TEB path planner completes the local path planning and movement control. The simulation was then carried out in the Gazebo environment. The experimental results show that the obtained trajectory satisfies the kinematics and dynamics, and can achieve the requirements of avoiding obstacles.