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teb_local_planner development status

asked 2018-03-20 12:01:56 -0500

ce_guy gravatar image

Hey guys,

I don't know if this is the right place to ask this but I would like to know if the local planner "teb_local_planner" will be further developed?

Most of the commits were in 2016 and minor changes in 2017. The reason I am asking this is that I am using the planner at the moment (works pretty well) and just wanted to know if there will be new features in 2018?

The best person to answers this would be @croessmann (thank you for all your great work) probably.

Thank you guys in advance!

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answered 2018-03-20 13:03:33 -0500

croesmann gravatar image

Hi,

yeah, there are still some unanswered issues and pull requests for the package. Unfortunately, I had not much spare-time during the last months to address these issues and to further provide some improvements. I am going to try to spend some time on improving the planner and check all the pull requests during the next weeks. I also have some ideas which would require a major update on the code, I will see what I can get in soon.

Cheers,

Christoph

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Thank you very much for the fast answer, sounds great. I thought you might have finished your research on this topic. The underlying trajectory control in the planner is a model predictive control isn‘t it? Do you have any book recommendations on this topic? I really want to get a deep understanding

ce_guy gravatar image ce_guy  ( 2018-03-20 15:06:03 -0500 )edit

I have read most of your conference paper on this topic but it’s a little bit hard for me to understand everything. Maybe you have a good hint for me to get deeper in this topic (my background is computer engineering with two semesters control theory). Thank you very much in advance!

ce_guy gravatar image ce_guy  ( 2018-03-20 15:11:44 -0500 )edit

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Asked: 2018-03-20 12:01:56 -0500

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Last updated: Mar 20 '18