To content
Faculty of Electrical Engineering and Information Technology

Timed Elastic Band Online Trajektorienoptimierung

The teb_local_planner was developed by Christoph Rösmann at the chair RST and implements a plugin for the base_local_planner of the ROS navigation stack.
The underlying method "timed-elastic-band" (1+2) optimizes the local trajectory of the mobile robot at runtime with respect to execution time, avoidance of obstacles under consideration of kino-dynamic constraints.
The teb_local_planner is suitable for both, differential drive robots and Ackermann kinematics (car-like robots).
In benchmarks, our planner proves to be superior to other local online trajectory planners with respect to robustness, obstacle avoidance,
path length, and travel time (Quote 3)


1. C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, 2012, pp 74–79.

2. C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, 2013, pp. 138–143.

3. Alexandros Filotheou, Emmanouil Tsardoulias, Antonis Dimitriou Andreas Symeonidis, Loukas Petrou,
Quantitative and Qualitative Evaluation of ROS-Enabled Local and Global Planners in 2D Static Environments
Journal of Intelligent & Robotic Systems, 2019, pp. 1-35