Online Trajectory Optimization based on Timed-Elastic-Ban
for the base_local_planner of the ROS navigation stack. The underlying method "timed-elastic-band" (1+2) optimizes the local trajectory of the mobile robot at runtime with respect to execution time, avoidance [...] planners with respect to robustness, obstacle avoidance, path length, and travel time ( Quote 3 ) Quotes: 1. C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic [...] Local and Global Planners in 2D Static Environments Journal of Intelligent & Robotic Systems, 2019, pp. 1-35 …