egoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands
Justin S. Smith,Ruoyang Xu,Patricio Vela,Justin S. Smith,Ruoyang Xu,Patricio Vela
The TEB hierarchical planner for real-time navigation through unknown environments is highly effective at balancing collision avoidance with goal directed motion. Designed over several years and publications, it implements a multi-trajectory optimization based synthesis method for identifying topologically distinct trajectory candidates through navigable space. Unfortunately, the underlying factor...
