Sökning: id:"swepub:oai:DiVA.org:kth-295374" >
Bench-MR :
Bench-MR : A Motion Planning Benchmark for Wheeled Mobile Robots
-
- Heiden, Eric (författare)
- Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
-
- Palmieri, Luigi (författare)
- Robert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany.
-
- Bruns, Leonard (författare)
- KTH,Robotik, perception och lärande, RPL
-
visa fler...
-
- Arras, Kai O. (författare)
- Robert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany.
-
- Sukhatme, Gaurav S. (författare)
- Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
-
- Koenig, Sven (författare)
- Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA.
-
visa färre...
-
Univ Southern Calif, Dept Comp Sci, Los Angeles, CA 90007 USA Robert Bosch GmbH, Corp Res, D-70839 Stuttgart, Germany. (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2021
- 2021
- Engelska.
-
Ingår i: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 6:3, s. 4536-4543
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- Planning smooth and energy-efficient paths for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, several sampling-based motion-planning algorithms, extend functions and post-smoothing algorithms have been introduced for such motion-planning systems. Choosing the best combination of components for an application is a tedious exercise, even for expert users. We therefore present Bench-MR, the first open-source motion-planning benchmarking framework designed for sampling-based motion planning for nonholonomic, wheeled mobile robots. Unlike related software suites, Bench-MR is an easy-to-use and comprehensive benchmarking framework that provides a large variety of sampling-based motion-planning algorithms, extend functions, collision checkers, post-smoothing algorithms and optimization criteria. It aids practitioners and researchers in designing, testing, and evaluating motion-planning systems, and comparing them against the state of the art on complex navigation scenarios through many performance metrics. Through several experiments, we demonstrate how Bench-MR can be used to gain extensive insights from the benchmarking results it generates.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Planning
- Benchmark testing
- Mobile robots
- Navigation
- Robot kinematics
- Open source software
- Collision avoidance
- Nonholonomic motion planning
- wheeled robots
- software tools for benchmarking and reproducibility
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas