Enhanced Path Planning and Obstacle Avoidance Based on High-Precision Mapping and Positioning
Abstract
:1. Introduction
- (1)
- We improved the scanning matching module by integrating the Iterative Closest Point (ICP) algorithm with occupancy probability methods, constructing Euclidean submaps to determine the robot’s positioning pose. The optimal pose was then refined using a sparse matrix for pose optimization.
- (2)
- Building on precise localization, we enhanced the traditional TEB algorithm by introducing critical coefficients and adding constraints on acceleration and terminal velocity to boost the robot’s safety and the smoothness of its movements.
2. Materials and Methods
2.1. Cartographer High-Precision Mapping Process
2.2. Robot Localization Based on Scan Matching
2.2.1. ICP Algorithm
2.2.2. Improved ICP Matching Model
2.3. Localized Path Planning
2.3.1. TEB Algorithm
2.3.2. Improved TEB Algorithm
3. Experiment Process and Result Analysis
3.1. Experimental Platform and Environment
3.2. Experimental Results
3.2.1. Robot Localization Accuracy Test
3.2.2. Local Path Improvement Test
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Constraint Parameters | Values |
---|---|
Maximum X linear velocity (m/s) | 0.4 |
Maximum backward linear velocity (m/s) | 0.2 |
Maximum angular velocity (rad/s) | 0.4 |
Maximum X linear acceleration (m/s2) | 0.3 |
Maximum angular acceleration (rad/s2) | 0.3 |
Obstruction expansion radius (m) | 0.5 |
Method | Location Time under 7 m × 3.5 m Map (s) | Location Time under 15 m × 7 m Map (s) |
---|---|---|
Traditional Method | 3.0 | 4.3 |
Proposed Method | 1.8 | 2.3 |
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Zhang, F.; Li, L.; Xu, P.; Zhang, P. Enhanced Path Planning and Obstacle Avoidance Based on High-Precision Mapping and Positioning. Sensors 2024, 24, 3100. https://doi.org/10.3390/s24103100
Zhang F, Li L, Xu P, Zhang P. Enhanced Path Planning and Obstacle Avoidance Based on High-Precision Mapping and Positioning. Sensors. 2024; 24(10):3100. https://doi.org/10.3390/s24103100
Chicago/Turabian StyleZhang, Feng, Leijun Li, Peiquan Xu, and Pengyu Zhang. 2024. "Enhanced Path Planning and Obstacle Avoidance Based on High-Precision Mapping and Positioning" Sensors 24, no. 10: 3100. https://doi.org/10.3390/s24103100