An Optimization-Based Motion Planner for Car-like Logistics Robots on Narrow Roads.

Thanks to their strong maneuverability and high load capacity, car-like robots with non-holonomic constraints are often used in logistics to improve efficiency. However, it is difficult to plan a safe and smooth optimal path in real time on the restricted narrow roads of the logistics park. To solve this problem, an optimization-based motion planning method inspired by the Timed-Elastic-Band algorithm is proposed, called Narrow-Roads-Timed-Elastic-Band (NRTEB).