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The trajectory planning in an actual unmanned inspection vehicle system needs to ensure that the planned trajectory meets the kinematic constraints, dynamic constraints, sideslip, and actuator constraints. In order to establish an optimal driving track line based on actual engineering specifications, this paper proposed a trajectory planning method based on a cubic Bezier curve to generate locally feasible trajectories satisfying these constraints. The method divided the above constraints into rigid and soft constraints. Constraint equations were rewritten for calculation efficiency into curvature-related constraint equations. For the rigid constraints, each condition must be met during the solution process, and the solution shall be given priority. For soft constraints, priority shall be given according to the actual engineering indicators during the solution process. Finally, the optimal control trajectory was obtained, and the trajectory planning was verified by simulation and experiment based on real environmental data.
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