Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Real-Time Trajectory Smoothing and Obstacle Avoidance: A Method Based on Virtual Force Guidance

Blog Article

In dynamic environments, real-time trajectory planners are required to generate smooth trajectories.However, trajectory planners based on superdry baseball top real-time sampling often produce jerky trajectories that necessitate post-processing steps for smoothing.Existing local smoothing methods may result in trajectories that collide with obstacles due to the lack of a direct connection between the smoothing process and trajectory optimization.To address this limitation, this paper proposes a novel trajectory-smoothing method that considers obstacle u11-200ps constraints in real time.By introducing virtual attractive forces from original trajectory points and virtual repulsive forces from obstacles, the resultant force guides the generation of smooth trajectories.

This approach enables parallel execution with the trajectory-planning process and requires low computational overhead.Experimental validation in different scenarios demonstrates that the proposed method not only achieves real-time trajectory smoothing but also effectively avoids obstacles.