基于改进时间弹性带算法的局部路径规划

胡欣,张家钟,胡帅,肖剑,罗诗伟,马亮

Local path planning based on an improved time elastic band algorithm

Xin HU,Jiazhong ZHANG,Shuai HU,Jian XIAO,Shiwei LUO,Liang MA

表 1 仿真参数设置

Tab.1 Simulation parameter settings

参数 数值 参数 数值 $ {v}_{\max } $/ (m⋅s−1) 0.4 $ {v}_{\text{bw},\max } $/(m·s−1) 0.2 $ {\omega }_{\max } $/(rad·s−1) 0.3 $ {a}_{\max } $/(m·s−2) 0.5 $ {\alpha }_{\max } $/(rad·s−2) 0.5 $ {j}_{\max } $/(m·s−3) 0.5 $ {d}_{\min } $/ m 0.5 $ {r}_{\text{infl}} $/ m 0.6