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Online Trajectory Planning in ROS Under Kinodynamic Constraints with Timed-Elastic-Bands

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Robot Operating System (ROS)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 707))

Abstract

This tutorial chapter provides a comprehensive and extensive step-by-step guide on the ROS setup of a differential-drive as well as a car-like mobile robot with the navigation stack in conjunction with the teb_local_planner package. It covers the theoretical foundations of the TEB local planner, package details, customization and its integration with the navigation stack and the simulation environment. This tutorial is designated for ROS Kinetic running on Ubuntu Xenial (16.04) but the examples and code also work with Indigo, Jade and is maintained in future ROS distributions.

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Notes

  1. 1.

    teb_local_planner, URL: http://wiki.ros.org/teb_local_planner.

  2. 2.

    ROS navigation, URL: http://wiki.ros.org/navigation.

  3. 3.

    teb_local_planner, online-video, URL: https://youtu.be/e1Bw6JOgHME.

  4. 4.

    teb_local_planner extensions, online-video, URL: https://youtu.be/o5wnRCzdUMo.

  5. 5.

    Conventions for names of common coordinate frames in ROS are listed here: http://www.ros.org/reps/rep-0105.html.

  6. 6.

    libg2o, URL: http://wiki.ros.org/libg2o.

  7. 7.

    The move_base node (navigation stack) provides a parameter controller_frequency to adjust the sampling interval.

  8. 8.

    rviz, URL: http://wiki.ros.org/rviz.

  9. 9.

    Adopted from the move_base wiki page, URL: http://wiki.ros.org/move_base.

  10. 10.

    amcl, URL: http://wiki.ros.org/amcl.

  11. 11.

    costmap_converter, URL: http://wiki.ros.org/costmap_converter.

  12. 12.

    interactive_markers, URL: http://wiki.ros.org/interactive_markers.

  13. 13.

    stage_ros, URL: http://wiki.ros.org/stage_ros.

  14. 14.

    gazebo_ros_pkgs, URL: http://wiki.ros.org/gazebo_ros_pkgs.

  15. 15.

    Borrowed from the turtlebot_stage package: http://wiki.ros.org/turtlebot_stage.

  16. 16.

    costmap_2d, URL: http://wiki.ros.org/costmap_2d.

References

  1. Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., and T. Bertram. 2012. Trajectory modification considering dynamic constraints of autonomous robots. In 7th German Conference on Robotics (ROBOTIK), 74–79.

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  2. Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., and T. Bertram. 2013. Efficient trajectory optimization using a sparse model. In 6th European Conference on Mobile Robots (ECMR), 138–143.

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Authors and Affiliations

  1. Institute of Control Theory and Systems Engineering, TU Dortmund University, 44227, Dortmund, Germany

    Christoph Rösmann, Frank Hoffmann & Torsten Bertram

Authors
  1. Christoph Rösmann
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  2. Frank Hoffmann
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  3. Torsten Bertram
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Correspondence to Christoph Rösmann .

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Editors and Affiliations

  1. College of CS & Informat Systems, Prince Sultan University College of CS & Informat Systems, Riyadh, Saudi Arabia

    Anis Koubaa

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Rösmann, C., Hoffmann, F., Bertram, T. (2017). Online Trajectory Planning in ROS Under Kinodynamic Constraints with Timed-Elastic-Bands. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_7

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  • DOI: https://doi.org/10.1007/978-3-319-54927-9_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54926-2

  • Online ISBN: 978-3-319-54927-9

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