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In the following paper discusses that teb planner is optimizing based on other parameters as well so that bicycle model may be an oversimplification unless you set parameters accordingly:

https://www.researchgate.net/profile/Franz-Albers/publication/326233414_Online_Trajectory_Optimization_and_Navigation_in_Dynamic_Environments_in_ROS/links/5f998357458515b7cfa44985/Online-Trajectory-Optimization-and-Navigation-in-Dynamic-Environments-in-ROS.pdf?origin=publication_detail

image description

Source: Online Trajectory Optimization and Navigation in Dynamic Environments in ROS Franz Albers??, Christoph R¨osmann, Frank Hoffmann and Torsten Bertram

In the The following paper discusses that teb planner is optimizing based on other parameters as well so that bicycle model may be an oversimplification unless you set parameters accordingly:

https://www.researchgate.net/profile/Franz-Albers/publication/326233414_Online_Trajectory_Optimization_and_Navigation_in_Dynamic_Environments_in_ROS/links/5f998357458515b7cfa44985/Online-Trajectory-Optimization-and-Navigation-in-Dynamic-Environments-in-ROS.pdf?origin=publication_detail

image description

Source: Online Trajectory Optimization and Navigation in Dynamic Environments in ROS Franz Albers??, Christoph R¨osmann, Frank Hoffmann and Torsten Bertram

The following paper discusses that teb planner is optimizing based on other parameters as well so that "minimizing a cost function which capturing partially conflicting objectives" . The bicycle model may be an oversimplification unless you set parameters accordingly:

https://www.researchgate.net/profile/Franz-Albers/publication/326233414_Online_Trajectory_Optimization_and_Navigation_in_Dynamic_Environments_in_ROS/links/5f998357458515b7cfa44985/Online-Trajectory-Optimization-and-Navigation-in-Dynamic-Environments-in-ROS.pdf?origin=publication_detail

image description

Source: Online Trajectory Optimization and Navigation in Dynamic Environments in ROS Franz Albers??, Christoph R¨osmann, Frank Hoffmann and Torsten Bertram