Research on Dynamic Navigation and Obstacle Avoidance of Mobile Robots in Open Office

This paper addresses the challenges of mobile robot navigation in open office layouts, which enhance space utilization but introduce multiple static and dynamic obstacles, such as desks and filing cabinets. To facilitate the delivery of documents while avoiding conflicts with employees, the study focuses on local path planning using the Timed Elastic Band (TEB) algorithm. An improved TEB algorithm is proposed, incorporating slip and curvature constraints during trajectory optimization to enhance movement smoothness. Simulation and experimental results demonstrate that the hybrid algorithm effectively meets the path planning requirements for vehicle-like mobile robots in dynamic environments, showcasing strong realtime performance and robustness. This research contributes significantly to enhancing the autonomous navigation capabilities of mobile robots in practical applications such as open offices.