RLA: A Low-Latency and High-Smoothness Path Planning System Based on Interpolation and Velocity Control

Local planning is a key issue in the field of unmanned delivery. Unmanned delivery requires high delivery efficiency and lower equipment maintenance costs, which pose challenges to the latency and smoothness of path planning algorithms. After investigation of the work on optimizing the latency and smoothness of local planning, we proposed a Robotic-Look-Ahead approach based on Look Ahead approach. It consists of four parts: calculating the conjunction speed, circular arc interpolation, the Look-Ahead method, and path modification. The experiment showed that with different paths, different running memory, and different maximum running speeds, latency decreased by an average of 90% compared to the benchmark, and smoothness improved by an average of 40%. Under different loads, the average energy consumption decreases by 4%.