Systematic Analysis of Global and Local Planners for Optimal Trajectory Planning

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 4Sprache: EnglischTyp: PDF

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Pittner, Maximilian; Hiller, Markus; Particke, Florian; Patino-Studencki, Lucila; Thielecke, Joern (Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Institute of Information Technology, Erlangen, Germany)

In this paper, common global (Dijkstra’s algorithm and A* algorithm) and local planners (Dynamic Window Approach, Elastic Band and Timed Elastic Band) are analyzed and investigated for different scenarios in simulation and in real world. Since path planning algorithms are often used without reasoning and proper comparison to other possible solutions, this paper tries to close this gap. The results of our systematic analysis not only shows the key features of the algorithms but additionally expose intelligent combinations of global and local path planners. Hence, these results give stakeholders a sound decision background on trajectory planning methods for their specific industrial scenario.