An Optimization-Based Motion Planner for Car-like Logistics Robots on Narrow Roads

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...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2022-11, Vol.22 (22), p.8948
Main Authors: Yu, Lingli, Wu, Hanzhao, Liu, Chongliang, Jiao, Hao
Format: Article
Language:English
Subjects:
Algorithms
Automobiles
car-like robots
Control systems
Deep learning
Logistics
Maneuverability
Mathematical optimization
Methods
Mobile robots
Motion
Motion planning
narrow roads
Obstacle avoidance
Optimization
Planning
Real time
Reproducibility of Results
Roads & highways
Robot dynamics
Robotics
Robotics - methods
Robots
Timed-Elastic-Band
Workflow
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Summary: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.
ISSN:1424-8220
1424-8220
DOI:10.3390/s22228948