MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

11/01/2020
by   Jian Wen, et al.
0

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

READ FULL TEXT

page 1

page 3

page 4

research
03/07/2020

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots

Planning smooth and energy-efficient motions for wheeled mobile robots i...
research
12/16/2020

EffMoP: Efficient Motion Planning Based on Heuristic-Guided Motion Primitives Pruning and Path Optimization With Sparse-Banded Structure

To solve the autonomous navigation problem in complex environments, an e...
research
10/12/2022

Local Planner Bench: Benchmarking for Local Motion Planning

Local motion planning is a heavily researched topic in the field of robo...
research
02/24/2022

Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration

Autonomous exploration and mapping of unknown terrains employing single ...
research
12/13/2021

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

Recently, there has been a wealth of development in motion planning for ...
research
11/03/2022

Benchmarking local motion planners for navigation of mobile manipulators

There are various trajectory planners for mobile manipulators. It is oft...
research
09/09/2023

osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics

Maps are essential to mobile robotics tasks like localization and planni...

Please sign up or login with your details

Forgot password? Click here to reset