Benchmarking of Robot Arm Motion Planning in Cluttered Environments
Shibao Yang,
Pengcheng Liu,
Nick Pears
Abstract:Motion planning is essential for robotic automation across various industries. However, generalizing research outcomes has been challenging due to the narrow focus of previous work on a specific robot arm system. Here, we take a broader approach by exploring the combinations of three popular robot arm systems, three levels of clutterness in the environment, and twelve popular motion planners. To conduct the necessary performance analysis, we employ Motionbenchmaker tool and introduce a sensitivity metric. Our … Show more
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