Abstract
In the process of autonomous motion, the mobile robot needs real-time local trajectory planning based on the global smooth path and nominal local trajectory tracking. In this paper, the local trajectory planning problem of mobile robot is studied, and the local path represented by quintic polynomial is optimized in Frenet coordinate system with the global smooth path as reference path, then, according to the information of the robot’s pose, velocity and angular velocity, the robot’s velocity is planned according to all kinds of constraints. A LQR closed loop control law is designed to realize the precise tracking of local optimal trajectory, which makes the robot move safely and stably in the dynamic environment. In the “maze” simulation environment, using the Stageros simulator the local trajectory planning algorithm is tested, and the validity and correctness of the algorithm are verified.
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