Obstacle Avoidance Control Method of Unmanned Vehicle based on TEB Algorithm
Tieshan Xie, Feng Gao, Yan Liu, Xin Fang, Tao Mao, Menghuang Deng · 2024
Aiming at the obstacle avoidance problem of unnavigable road sections in an off-road environment, this paper adopts TEB algorithm for obstacle avoidance control. We need to establish hard and soft constraints. Hard constraints are the constraints that must be satisfied, such as steering angle and anti-sideslip. On the basis of the hard constraints, the soft constraints refer to the constraints of the actual scene indicators to obtain the optimal solution of the control points. Then the penalty function is introduced and the death penalty function is used to eliminate all paths that do not meet the requirements of hard constraints. The out-of-point penalty function is established in the path cluster that meets the requirement, and the equation is constructed through the soft constraint requirement, and the path with the least penalty is selected. Finally, the optimal path selected under various constraints is optimized by the$g$2o algorithm to meet the kinematic and dynamic requirements of the robot and realize obstacle avoidance planning. Finally, the effectiveness of the proposed method is verified by an unmanned vehicle test platform.