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 2 路线1的线速度和角速度对比

Tab.2 Comparison of linear speed and angular velocity of route 1

算法 $ \overline{v} $/(m·s−1) $ \sigma _{v}^{2} $/(m2·s−2) $ \overline{\omega } $/(rad·s−1) $ \sigma _{\omega }^{2} $/(rad2·s−2) APF 0.391 6 0.003 3 0.306 1 0.226 4 DWA 0.375 0 0.004 7 0.138 4 0.049 1 传统TEB 0.366 0 0.005 4 0.171 9 0.036 6 改进TEB 0.382 0 0.004 5 0.159 2 0.031 9