论文标题
为当地运动规划师进行基准进行移动操纵器的导航
Benchmarking local motion planners for navigation of mobile manipulators
论文作者
论文摘要
移动操纵器有各种轨迹规划师。由于硬件差异，任务和目标的差异以及测量和操作环境的不确定性，在类似情况下比较其性能通常是具有挑战性的。在本文中，我们提出了一个仿真框架，以评估本地轨迹计划者的性能，以在同一环境中为移动操纵器生成平滑，动态和运动学上可行的轨迹。我们专注于本地规划者，因为它们是提供平滑轨迹的关键组成部分，同时承载负载，对动态障碍反应并避免碰撞。我们使用我们介绍的指标评估了两个著名的本地轨迹计划者，即动态窗口方法（DWA）和时间弹性频段（TEB）。此外，我们的软件解决方案适用于机器人操作系统（ROS）框架中使用的任何其他本地规划人员，而无需其他编程工作。
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.
