Two-Stage AL-iLQR-Based Trajectory Planning for Special-Shaped Curb Cleaning of Sweeper

This study addresses the challenge of generating a contiguous sweeping line along an irregular curb edge. The primary method involves utilizing the curb edge line and applying a translation process to it. Subsequently, a higher-order filter is employed to smooth the resulting curve. The curve is then segmented based on curvature, with spiral and Reeds-Shepp curves used to connect the segmented parts. Finally, the entire trajectory is smoothed using the Augmented Lagrangian-iLQR (AL-iLQR) algorithm, yielding the final curve for the sweeping line. This approach ensures a precise and optimized path for cleaning along the irregular curb edge.