MRPB 1.0

MRPB 1.0是由南开大学团队开发的一个移动机器人本地规划评估基准，旨在统一和全面地评估移动机器人本地规划方法。该数据集包含四种精心设计的模拟场景，包括室内、狭窄空间、部分未知和动态复杂环境，以挑战本地规划器的适用性。数据集的创建过程涉及在Gazebo模拟平台上设计这些场景，并使用三种类型的评估指标（安全性、效率和运动平滑性）来量化评估本地规划器的性能。MRPB 1.0的应用领域主要集中在移动机器人本地规划的性能评估，旨在解决现有评估方法的不全面和不客观问题。

MRPB 1.0 is a mobile robot local planning evaluation benchmark developed by the team from Nankai University, aiming to conduct unified and comprehensive evaluations of mobile robot local planning methods. This dataset includes four meticulously designed simulation scenarios, namely indoor environments, narrow spaces, partially unknown environments, and dynamic complex environments, to challenge the adaptability of local planners. The development of this dataset involves designing these scenarios on the Gazebo simulation platform, and using three types of evaluation metrics (safety, efficiency, and motion smoothness) to quantitatively evaluate the performance of local planners. The application scope of MRPB 1.0 mainly focuses on the performance evaluation of mobile robot local planning, aiming to address the problems of incompleteness and lack of objectivity in existing evaluation methods.