Iterative Trajectory Re-planning of Autonomous Mobile Robots for Repetitive Multi-sites Parking

In harsh industrial environments such as those affected by potholes or oil pollution, autonomous mobile robots (AMRs) often struggle to precisely park at designated stations, thereby hindering their ability to perform autonomous operations effectively. To solve the problem, this paper proposes a trajectory re-planning method for multiple accurate parking. The proposed method leverages an optimized Bi-RRT trajectory planning scheme, involving the angle constraints, the APF-assisted heuristic sampling method and the adaptive step length modification strategy. Finally, the proposed method is experimentally verified in a production line scenario. The results verify that the proposed method exhibits advantages in terms of improving the quality of trajectory planning, thereby ensuring accurate parking of AMRs in industrial scenarios.