An Improved Method of Dynamic Path Modification for Nonholonomic Mobile Robot

The TEB (timed elastic band) algorithm optimizes the path generated by the global planner to obtain a time-optimal trajectory that can avoid obstacles and satisfy the kinematics and dynamics constraints of the robots. In TEB algorithm, backward is often used to adjust the direction, which makes the trajectory not smooth enough. For differential driving robot, it is more convenient to rotate in situ to adjust direction. Excessive rates of change in acceleration can cause the torque output of the robot chassis motor to abruptly change, subjecting the robot to shock oscillation. In the improved TEB algorithm, the velocity constraint is modified and the specific jerk constraint is constructed. The improved TEB algorithm is simulated on the Stage simulation platform and implemented on a real differential driving robot. The experimental results show that the improved TEB algorithm can generate smoother forward trajectory without backward for wheeled differential driving robot, and the trajectory has good obstacle avoidance effect. Meanwhile, the algorithm can better solve the shock oscillation problem of the robot.