In dynamic environments, real-time trajectory planners are required to generate smooth trajectories.However, trajectory planners based on real-time sampling here 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 force guides the generation of smooth trajectories.This approach enables parallel execution with the trajectory-planning process and requires low elbeco adu ripstop pants computational overhead.Experimental validation in different scenarios demonstrates that the proposed method not only achieves real-time trajectory smoothing but also effectively avoids obstacles.