Key Engineering Takeaways
- •Global planners generate a static path; local controllers execute real-time closed-loop velocity commands (cmd_vel) avoiding dynamic moving obstacles at 20-50Hz.
- •TEB deforms the trajectory like an elastic rubber band subjected to repulsive forces from obstacles.
- •The MPPI controller uses GPU/SIMD multi-threading to sample thousands of candidate trajectories per second.
Prerequisites
- • Nav2 costmaps
- • Differential kinematics
The Role of Local Controllers in Autonomous Systems
While global planners compute a static route over several seconds, local trajectory planners operate in a high-speed feedback loop (20-50Hz) reacting to pedestrians, other robots, and physical motor acceleration limits.
Tags:#TEB#DWB#MPPI#Local Planner#Trajectory Controller#Obstacle Avoidance