2022/11/03 by Sevag Tafnakaji, Hadi Hajieghrary, Tafnakaji, Sevag +5
Computer Science · #FOS: Computer and information sciences #FOS: Electrical engineering #Model-Driven Software Engineering Techniques #Robotic Path Planning Algorithms #Robotics (cs.RO) #Software Testing and Debugging Techniques #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2211.01812
openalex publication_date 2022/11/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.