A Local Planning Method Based on Graph Optimization Framework

To generate a collision free local trajectory respect to the dynamic and kinematic constrains of car-like mobile robots, a local planning method is proposed in this paper. The method generates a local path in the graph optimization framework of the Timed Elastic Band (TEB) algorithm firstly. The generated local path is made of a series of waypoints and concerned with collision avoidance, curvature constraints. Then some post-processes are offered: The fifth-order splines are used to get a smooth path through these waypoints; Finally, shortest time trajectory generation algorithm along the given path generates a shortest time trajectory satisfying the dynamic and kinematic constraints.