Timed-Elastic-Band-Based Variable Splitting for Autonomous Trajectory Planning

摘要

Existing trajectory planning methods often face challenges in ensuring stable robot motion control, leading to significant positional errors during navigation. This study proposes Timed-Elastic-Band-Based Variable Splitting (TEB-VS), a novel framework that integrates variable splitting (VS)—a constrained optimization technique—with the classical Timed-Elastic-Band (TEB) algorithm. Unlike incremental modifications to TEB, TEB-VS introduces a systematic combination of VS and TEB to decompose non-convex global constraints into tractable subproblems while leveraging symmetry principles for balanced multi-objective control (e.g., velocity, acceleration, and obstacle avoidance). Experimental results demonstrate that TEB-VS achieves a 46.5% improvement in motion stability over traditional TEB in obstacle-free simulations and a 37% enhancement in dynamic obstacle scenarios. Real-world tests show a 26.7% reduction in angular velocity oscillations, with computational efficiency comparable to TEB. The framework’s effectiveness in harmonizing trajectory smoothness and dynamic adaptability is validated through extensive simulations and TurtleBot2 experiments.