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http://dx.doi.org/10.21289/KSIC.2022.25.5.853

A Study on the Analysis of TEB Local Planner Parameters to Improve the Target Reach Time of Autonomous Mobile Robot  

Roh, Hyeong-Seok (Korea Electronics Technology Co., Ltd)
Jung, Ui (Korea Electronics Technology Co., Ltd)
Han, Jung-Min (Korea Electronics Technology Co., Ltd)
Jeon, Jung-Hyeon (Korea Electronics Technology Co., Ltd)
Jeon, Ho-Nam (Korea Electronics Technology Co., Ltd)
Publication Information
Journal of the Korean Society of Industry Convergence / v.25, no.5, 2022 , pp. 853-859 More about this Journal
Abstract
In this study, we analyzed the instantaneous trajectory generation capability and target arrival rate of a mobile robot by changing the parameter of the TEB (Timed Elastic Band) Local Planner among local planners that affect the instantaneous obstacle avoidance ability of the mobile robot using ROS (Robot Operating System) simulation and real experience. As a result, we can expect a decrease in the target arrival time of the mobile robot through a decrease in the parameter values of the TEB Local Planner's min_obstacle_dist, inflation_dist, and penalty_epsilon. However, if this parameter is reduced too much, the risk of obstacle collision of the moving robot is increases, so it is important to combine the appropriate values to construct the parameter.
Keywords
ROS(Robot Operating System); TEB Local Planner; Mobile Robot; Parameter;
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