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- Title
An Optimization-Based Motion Planner for Car-like Logistics Robots on Narrow Roads.
- Authors
Yu, Lingli; Wu, Hanzhao; Liu, Chongliang; Jiao, Hao
- Abstract
Thanks to their strong maneuverability and high load capacity, car-like robots with non-holonomic constraints are often used in logistics to improve efficiency. However, it is difficult to plan a safe and smooth optimal path in real time on the restricted narrow roads of the logistics park. To solve this problem, an optimization-based motion planning method inspired by the Timed-Elastic-Band algorithm is proposed, called Narrow-Roads-Timed-Elastic-Band (NRTEB). Three optimization modules are added to the inner and outer workflow of the Timed-Elastic-Band framework. The simulation results show that the proposed method achieves safe reversing planning on narrow roads while the jerk of the trajectory is reduced by 72.11% compared to the original method. Real-world experiments reveal that the proposed method safely and smoothly avoids dynamic obstacles in real time when navigating forward and backward. The motion planner provides a safer and smoother trajectory for car-like robots on narrow roads in real time, which greatly enhances the safety, robustness and reliability of the Timed-Elastic-Band planner in logistics parks.
- Subjects
NONHOLONOMIC constraints; ROBOTS; HIGHWAY planning; PLANNERS; LOGISTICS; MOBILE robots
- Publication
Sensors (14248220), 2022, Vol 22, Issue 22, p8948
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s22228948