teb_local_planner - Car-like Robots and Costmap Conversion
Channel: Regelungssystemtechnik TU Dortmund
Date: 2016-02-02

This video presents new features of the teb_local_planner ROS package introduced in release 0.2. 

Refer to https://www.youtube.com/watch?v=e1Bw6JOgHME for the main video describing the package.

Refer to ROS Wiki for more details on the software: http://wiki.ros.org/teb_local_planner

The presented approach is based on [1, 2, 3] and some further extensions.

Time-line:
00:00 Title and Introduction
00:06 Supporting Car-like Robots
03:11 Costmap Conversion


Papers describing the approach:
[1] Rösmann, C., W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory Modification Considering Dynamic Constraints of Autonomous Robots, 7th German Conference on Robotics, Munich, Germany, May 2012
[2] Rösmann, C., W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient Trajectory Optimization using a Sparse Model, IEEE European Conference on Mobile Robots, Barcelona, Spain, Sept. 2013
[3] Rösmann, C., F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, IEEE European Conference on Mobile Robots, Lincoln, UK, Sept. 2015

The Institute of Control Theory and Systems Engineering (RST) at TU Dortmund is engaged in fundamental research in the fields of robotics and computational intelligence. Furthermore the applied research focus is automotive systems and mechatronics. http://www.rst.e-technik.tu-dortmund.de