Autonomous Mobile Robotics - Timed Elastic Band

Type of course:

Digital learning, Path

Language:

Duration:

1 hour

Workload:

6 hours

Proficiency:

Advanced

Target:

Professionals, Students

This Learning Path explains the Timed-Elastic-Band approach (TEB) that is a local trajectory planning algorithm for mobile robotics. A local trajectory planning algorithm is in charge of following a rough path planned by a global planner to drive a mobile robot to a given target, while modifying the path to respect the robot’s kinematic and dynamic constraints and avoiding dynamic obstacles. In particular, the studied implementation is a local planner plug-in for the mobile navigation framework called Navigation Stack for a more general robotics framework, Robot Operating System (ROS or ROS2 for the second version of the framework).

Learning outcomes

The learner can embed the Timed Elastic Band planner in Navigation stack for robotic systems
The learner can summarize the necessary libraries and files needed to run the TEB planner with ROS
The learner can configure the basic parameters first using test_optim_node and then in simulated robot and world environment through rviz and rqt plugin