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An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment
In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an i...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8707625/ https://www.ncbi.nlm.nih.gov/pubmed/34960406 http://dx.doi.org/10.3390/s21248312 |
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author | Wu, Jiafeng Ma, Xianghua Peng, Tongrui Wang, Haojie |
author_facet | Wu, Jiafeng Ma, Xianghua Peng, Tongrui Wang, Haojie |
author_sort | Wu, Jiafeng |
collection | PubMed |
description | In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an improved TEB algorithm to make the AGV walk along the wall when turning, which shortens the planning time and saves energy. Experiments were implemented in the Rviz visualization tool platform of the robot operating system (ROS). Simulated experiment results reflect that an amount of 5% reduction in the planning time has been achieved and the velocity curve implies that the operation was relatively smooth. Practical experiment results demonstrate the effectiveness and feasibility of the proposed method that the robots can avoid obstacles smoothly in the unknown static and dynamic obstacle environment. |
format | Online Article Text |
id | pubmed-8707625 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-87076252021-12-25 An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment Wu, Jiafeng Ma, Xianghua Peng, Tongrui Wang, Haojie Sensors (Basel) Communication In recent decades, the Timed Elastic Band (TEB) algorithm is widely used for the AGV local path panning because of its convenient and efficiency. However, it may make a local detour when encountering a curve turn and cause excessive energy consumption. To solve this problem, this paper proposed an improved TEB algorithm to make the AGV walk along the wall when turning, which shortens the planning time and saves energy. Experiments were implemented in the Rviz visualization tool platform of the robot operating system (ROS). Simulated experiment results reflect that an amount of 5% reduction in the planning time has been achieved and the velocity curve implies that the operation was relatively smooth. Practical experiment results demonstrate the effectiveness and feasibility of the proposed method that the robots can avoid obstacles smoothly in the unknown static and dynamic obstacle environment. MDPI 2021-12-12 /pmc/articles/PMC8707625/ /pubmed/34960406 http://dx.doi.org/10.3390/s21248312 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Communication Wu, Jiafeng Ma, Xianghua Peng, Tongrui Wang, Haojie An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title | An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title_full | An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title_fullStr | An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title_full_unstemmed | An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title_short | An Improved Timed Elastic Band (TEB) Algorithm of Autonomous Ground Vehicle (AGV) in Complex Environment |
title_sort | improved timed elastic band (teb) algorithm of autonomous ground vehicle (agv) in complex environment |
topic | Communication |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8707625/ https://www.ncbi.nlm.nih.gov/pubmed/34960406 http://dx.doi.org/10.3390/s21248312 |
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