Tafnakaji, S;
Hajieghrary, H;
Teixeira, Q;
Bekiroglu, Y;
(2023)
Benchmarking local motion planners for navigation of mobile manipulators.
In:
2023 IEEE/SICE International Symposium on System Integration, SII 2023.
IEEE: Atlanta, GA, USA.
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Abstract
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.
| Type: | Proceedings paper |
|---|---|
| Title: | Benchmarking local motion planners for navigation of mobile manipulators |
| Event: | 2023 IEEE/SICE International Symposium on System Integration (SII) |
| Dates: | 17 Jan 2023 - 20 Jan 2023 |
| ISBN-13: | 9798350398687 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/SII55687.2023.10039133 |
| Publisher version: | https://doi.org/10.1109/SII55687.2023.10039133 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10167369 |
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