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 3 路线2线速度与角速度对比

Tab.3 Comparison of linear speed and angular velocity of route 2

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 0.390 9 0.003 5 0.237 1 0.064 7 DWA 0.306 3 0.021 8 0.203 4 0.075 2 传统TEB 0.339 8 0.015 1 0.188 7 0.044 3 改进TEB 0.332 9 0.013 8 0.179 9 0.040 5