Benchmarking Local Motion Planners for Navigation of Mobile Manipulators
Paper i 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.


Sevag Tafnakaji

Student vid Chalmers

Hadi Hajieghrary

Chalmers, Elektroteknik, System- och reglerteknik

Quentin Teixeira

Student vid Chalmers

Yasemin Bekiroglu

Chalmers, Elektroteknik, System- och reglerteknik

2023 IEEE/SICE International Symposium on System Integration

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



Robotteknik och automation

Datavetenskap (datalogi)



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