Improvement of the TEB Algorithm for Local Path Planning of Car-like Mobile Robots Based on Fuzzy Logic Control
TEB (timed elastic band) can efficiently generate optimal trajectories that match the motion characteristics of car-like robots. However, the quality of the generated trajectories is often unstable, and they sometimes violate boundary conditions. Therefore, this paper proposes a fuzzy logic control–...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/1/12 |
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| Summary: | TEB (timed elastic band) can efficiently generate optimal trajectories that match the motion characteristics of car-like robots. However, the quality of the generated trajectories is often unstable, and they sometimes violate boundary conditions. Therefore, this paper proposes a fuzzy logic control–TEB algorithm (FLC-TEB). This method adds smoothness and jerk objectives to make the trajectory generated by TEB smoother and the control more stable. Building on this, a fuzzy controller is proposed based on the kinematic constraints of car-like robots. It uses the narrowness and turning complexity of the trajectory as inputs to dynamically adjust the weights of TEB’s internal objectives to obtain stable and high-quality trajectories in different environments. The results of real car-like robot tests show that compared to the classical TEB, FLC-TEB increased the trajectory time by 16% but reduced the trajectory length by 16%. The trajectory smoothness was significantly improved, the change in the turning angle on the trajectory was reduced by 39%, the smoothness of the linear velocity increased by 71%, and the smoothness of the angular velocity increased by 38%, with no reverse movement occurring. This indicates that when planning trajectories for car-like mobile robots, while FLC-TEB slightly increases the total trajectory time, it provides more stable, smoother, and shorter trajectories compared to the classical TEB. |
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| ISSN: | 2076-0825 |