Benchmarking Local Motion Planners for Navigation of Mobile Manipulators
Paper in proceeding, 2023

There are various trajectory planners for mobile manipulators. It is often challenging to compare their performance under similar circumstances due to differences in hardware, dissimilarity of tasks and objectives, as well as uncertainties in measurements and operating environments. In this paper, we propose a simulation framework to evaluate the performance of the local trajectory planners to generate smooth, and dynamically and kinematically feasible trajectories for mobile manipulators in the same environment. We focus on local planners as they are key components that provide smooth trajectories while carrying a load, react to dynamic obstacles, and avoid collisions. We evaluate two prominent local trajectory planners, Dynamic-Window Approach (DWA) and Time Elastic Band (TEB) using the metrics that we introduce. Moreover, our software solution is applicable to any other local planners used in the Robot Operating System (ROS) framework, without additional programming effort.

Author

Sevag Tafnakaji

Student at Chalmers

Hadi Hajieghrary

Chalmers, Electrical Engineering, Systems and control

Quentin Teixeira

Student at Chalmers

Yasemin Bekiroglu

Chalmers, Electrical Engineering, Systems and control

2023 IEEE/SICE International Symposium on System Integration, SII 2023

2023 IEEE/SICE International Symposium on System Integration, SII 2023
Atlanta, USA,

Subject Categories

Computer Engineering

Robotics

Computer Science

DOI

10.1109/SII55687.2023.10039133

More information

Latest update

4/21/2023