Trajectory Planning and Control of Car-Like Robot in Dynamic Environment

Ackerman steering mechanism is widely used in car-like robots and autonomous vehicles due to its simplicity, stability, and strong adaptability. The trajectory planning and control of such robots are critical for advancements in autonomous driving and related applications. This study analyzes an enhanced time elastic band (TEB) trajectory planning algorithm based on the Ackermann steering kinematics model, formulating the trajectory planning as a multi-objective optimization problem. Simulation results demonstrate the feasibility and effectiveness of the proposed approach in multi-vehicle dynamic parking scenarios.