Collision Avoidance for AGV Navigation Using the Time Elastic Band Algorithm
Pei-En Hsu, Cheng-Hung Lin, Jyun-Hong He, Hsin‐Han Chiang · 2023
This paper presents a design and implementation of an automated guided vehicle (AGV) that addresses the dynamic obstacle avoidance problem in navigation. We employ the TEB path planner, which is based on laser range sensors, as the algorithm for dynamic obstacle avoidance. In the development process, the Stage simulation is previously conducted to obtain suitable parameters. The environment used in the Stage simulation is a flat map of the real vehicle verification site, and the robot specifications and sensors used are the same as those of the actual vehicle. Finally, we apply the parameters obtained from the simulation to the real AGV for validation.