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

huge-anal In dynamic environments, real-time trajectory planners are required to generate smooth trajectories.However, trajectory planners based on 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 constraints in real time.

By introducing virtual attractive forces from original trajectory points and virtual repulsive forces from obstacles, the resultant 2 Seater Sofa 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.