Abstract: When the traditional TEB（time elastic band） algorithm is used to plan the path in a complex dynamic environment, path vibrations caused by the unsmooth speed control amount will occur, which will bring greater impact to the robot and prone to collisions. Aiming at the above problems, the traditional TEB algorithm is improved. The detected irregular obstacles are expansion treatment and regional classification strategy, and the driving route in the safe area is given priority to make the robot run more safely and smoothly in the complex environment. Adding the obstacle distance to the speed constraint in the algorithm can effectively reduce the vibration amplitude and the impact of the robot during the path driving process caused by the speed jump after the robot approaches the obstacle, so as to ensure the safety of the robot during operation. A large number of comparative simulations in the ROS environment show that in a complex dynamic environment, the path planned by the improved TEB algorithm is safer and smoother, which can effectively reduce the impact of the robot.

Key words: TEB algorithm, expansion treatment, grading strategy, path planning

摘要： 在复杂动态环境中用传统TEB（time elastic band）算法规划路径时，会出现速度控制量不平滑导致的路径震荡、给机器人带来较大冲击和易发生碰撞。针对以上问题对传统TEB算法进行改进，对检测到的不规则障碍物膨胀化处理并进行区域分级策略，优先考虑安全区域的行驶路线，使机器人在复杂环境中更加安全平稳地运行。在算法中加入障碍物距离对速度的约束，能有效降低机器人靠近障碍物后因速度跳变导致的路径行驶过程的震荡幅度和机器人受到的冲击，以保障机器人运行时的安全。通过在ROS环境中的大量对比仿真，表明在复杂动态环境中改进后TEB算法规划的路径更安全平滑，能有效减少机器人受到的冲击。

关键词: TEB算法, 膨胀化处理, 分级策略, 路径规划