Automated Guided Vehicles are increasingly used for material transfer in factory and warehouse environments amongst humans and human operated vehicles. Safe and efficient operation is challenging when there is a mix of human and automated traffic as fixed guide paths can become blocked more frequently. In this work we aim to show smooth and efficient paths based on clothoid curves can be used to automatically plan diversions which can be traversed at high speed by automated fork-lift vehicles, which are car-like in the sense they have a limited turning radius and angular acceleration. The approach, based on numerical optimisation within convex region constraints is described in detail, and numerical results for curvature and sharpness are compared to a cubic spline on a small number of simulated environments. The clothoid spline is less affected, in terms of its objective function, by a shift in the obstacle boundaries than a cubic spline, for obstacle shifts below 0.5m. The clothoid spline takes longer to converge for but the output path has attractive qualities like lower peak sharpness, enabling high speed operation. The method is therefore most useful for applications where path quality is important and updates are required less frequently. Changing the objective function by increasing weighting parameter b allowed the path shape to be tuned to reduce the peak sharpness, at the cost of increasing the total length. With b > 100, convergence was poor because parts of the spline were pushed outside the assigned region, an artefact arising from the constraints only being enforced at the start and end of each segment. The analytical Jacobian of the constraints was effective at reducing the number of function evaluations to reach convergence.

在工厂和仓库环境中，自动导引车越来越多地用于人类和人工操作的车辆之间的物料转移。当人力和自动交通混合在一起时，安全和高效的操作将面临挑战，因为固定的引导路径可能会更加频繁地被阻塞。在这项工作中，我们旨在展示基于回旋曲线的平滑有效路径，可用于自动规划可通过自动叉车进行高速穿越的转向，这种转向在一定程度上类似于汽车，即转弯半径有限和角加速度。详细介绍了基于凸区域约束内的数值优化的方法，并将曲率和清晰度的数值结果与少量模拟环境下的三次样条进行了比较。回旋花键受到的影响较小，就其目标功能而言，对于障碍物偏移小于0.5m的情况，障碍物边界的偏移要比三次样条线偏移。回旋样条曲线收敛所需的时间更长，但是输出路径具有吸引人的特质，例如较低的峰值锐度，可实现高速操作。因此，该方法对于路径质量很重要且不需要频繁更新的应用程序最为有用。通过增加加权参数来改变目标函数 因此，该方法对于路径质量很重要且不需要频繁更新的应用程序最为有用。通过增加加权参数来改变目标函数 因此，该方法对于路径质量很重要且不需要频繁更新的应用程序最为有用。通过增加加权参数来改变目标函数b允许调整路径形状以降低峰值清晰度，但以增加总长度为代价。当b > 100时，由于样条曲线的某些部分被推到指定区域之外，因此收敛性很差，仅在每个片段的开始和结束时才执行由约束引起的伪像。约束的解析雅可比行列式有效地减少了函数求值的数量，以达到收敛。