# rst-tu-dortmund/teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

Repository: https://github.com/rst-tu-dortmund/teb_local_planner
Canonical: https://ross.abutalabs.com/products/teb_local_planner
Homepage: http://wiki.ros.org/teb_local_planner
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: ros, mobile-robots, navigation, trajectory-optimization, optimal-control, path-planning
Last push: 2026-01-09T21:09:41+00:00

## Health v2 (maintenance only)
Score: 50/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 61, release rhythm 8, longevity 100
- inputs: {"age_days": 4124, "days_push": 236, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1341, forks 594 (observed 2026-08-28T04:04:26.117402+00:00)

## What it is
A ROS package implementing a local trajectory planner plugin for the 2D navigation stack based on Timed Elastic Bands. It locally optimizes robot trajectories for execution time, obstacle separation, and kinodynamic constraints, supporting differential-drive, omnidirectional, and car-like robots.

## Use cases
- plan smooth local trajectories for a differential-drive mobile robot in ROS
- navigate a car-like robot with kinodynamic constraints
- avoid dynamic obstacles while following a global plan
- explore multiple homotopy classes for trajectory planning in cluttered environments
- follow a global path with via-points while respecting robot dynamics
- plan trajectories for omnidirectional robots with strafing motion

## When to choose
- you use the ROS navigation stack and need a robust local planner
- your robot has non-holonomic, omnidirectional, or car-like kinematics
- you need time-optimal trajectories that respect kinodynamic constraints
- you want to handle dynamic obstacles and multiple homotopy classes

## When to avoid
- you are not using ROS or the ROS navigation stack
- you need a global planner rather than a local planner
- you work outside 2D navigation scenarios
- you need a planner for aerial or manipulator robots

## Facets
- artifact type: library
- maturity: stable
- function: simulation, robotics, middleware
- domain: robotics, autonomous-vehicles, travel
- platform: cpp
- tags: ros, timed-elastic-band, trajectory-optimization, local-planner, mobile-robots, path-planning, optimal-control, linux

## Member repositories
- rst-tu-dortmund/teb_local_planner (main) score 50

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:26.117402+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:43:45.954703+00:00, confidence not recorded.
  - readme: https://github.com/rst-tu-dortmund/teb_local_planner (fetched 2026-08-28T04:04:26.117402+00:00, sha 471ce8853793)
  - homepage: http://wiki.ros.org/teb_local_planner (fetched 2026-08-29T12:02:59.415209+00:00, sha aac1ce2e7c27)
  - site_page: https://wiki.ros.org/ROS/Installation (fetched 2026-08-29T12:02:59.420255+00:00, sha 010675c2f05f)
  - site_page: http://docs.ros.org (fetched 2026-08-29T12:02:59.421980+00:00, sha 0fa467f92ffb)
  - site_page: http://docs.ros.org/en/indigo/changelogs/teb_local_planner/changelog.html (fetched 2026-08-29T12:02:59.426009+00:00, sha 1d4e3eb8f6dd)
  - site_page: http://docs.ros.org/en/jade/changelogs/teb_local_planner/changelog.html (fetched 2026-08-29T12:02:59.427880+00:00, sha a4aec2df4bb5)
  - site_page: http://docs.ros.org/en/kinetic/changelogs/teb_local_planner/changelog.html (fetched 2026-08-29T12:02:59.429711+00:00, sha 11cbcc1b8166)
  - site_page: http://docs.ros.org/en/lunar/changelogs/teb_local_planner/changelog.html (fetched 2026-08-29T12:02:59.431972+00:00, sha 7944d97d85d4)
- Data as of 2026-08-30T08:39:29.467469+00:00.