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Computer Science > Robotics

arXiv:2401.13078 (cs)
[Submitted on 23 Jan 2024]

Title:Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics

Authors:Steve Macenski, Matthew Booker, Joshua Wallace
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Abstract:This paper introduces the Smac Planner, an openly available search-based planning framework with multiple algorithm implementations including 2D-A*, Hybrid-A*, and State Lattice planners. This work is motivated by the lack of performant and available feasible planners for mobile and surface robotics research.
This paper contains three main contributions. First, it briefly describes a minimal open-source software framework where search-based planners may be easily added. Further, this paper characterizes new variations on the feasible planners - dubbed Cost-Aware - specific to mobile roboticist's needs. This fills the gap of missing kinematically feasible implementations suitable for academic, extension, and deployed use. Finally, we provide baseline benchmarking against other standard planning frameworks.
Smac Planner has further significance by becoming the standard open-source planning system within ROS 2's Nav2 framework which powers thousands of robots in research and industry.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2401.13078 [cs.RO]
  (or arXiv:2401.13078v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2401.13078

Submission history

From: Steven Macenski [view email]
[v1] Tue, 23 Jan 2024 20:08:41 UTC (3,710 KB)
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