rst-tu-dortmund/teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
What it solves
It provides a local trajectory planner for mobile robots, ensuring they can navigate from a start point to a goal while avoiding obstacles and respecting the physical limits of the robot's movement (kinodynamic constraints).
How it works
The project implements the "Timed Elastic Band" (TEB) method. This approach locally optimizes the robot's trajectory in real-time at runtime, balancing three main factors: execution time, distance from obstacles, and compliance with the robot's physical constraints.
Who it’s for
Developers and researchers working with the ROS (Robot Operating System) 2D navigation stack who need a high-performance local planner for various robot types, including car-like robots.
Highlights
- Local trajectory optimization in real-time.
- Support for kinodynamic constraints.
- Support for car-like robots.
- Integration as a plugin for the ROS base_local_planner.
- Costmap conversion capabilities.
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