AMR is widely used in factories to replace manual labor to reduce costs and improve efficiency. However, it is often difficult for logistics robots to plan the optimal trajectory and unreasonable trajectory planning can lead to low transport efficiency and high energy consumption. In this paper, we propose a method to directly calculate the optimal trajectory for short distance on the basis of the Dubins set, which completes the calculation of the Dubins path. Additionally, as an improvement of Dubins path, we smooth the Dubins path based on clothoid, which makes the curvature varies linearly. AMR can adjust the steering wheels while following this trajectory. The experiments show that the Dubins path can be calculated quickly and well smoothed.

翻译：自主移动机器人(AMR)广泛用于工厂替代人力，以降低成本并提高效率。然而，物流机器人通常难以规划最优轨迹，不合理的轨迹规划可能导致运输效率低下和能耗过高。本文提出一种基于Dubins集合直接计算短距离最优轨迹的方法，实现了Dubins路径的计算。此外，作为对Dubins路径的改进，我们基于回旋曲线对Dubins路径进行平滑处理，使曲率线性变化。AMR在跟随该轨迹时可调整转向轮。实验表明，Dubins路径能够被快速计算并得到良好平滑。