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chompSolverOptions

Solver options for CHOMP motion planner

Since R2023a

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    Description

    The chompSolverOptions object stores Covariant Hamiltonian Optimization for Motion Planning (CHOMP) solver options that you can use to change the behavior of the solver.

    Creation

    Syntax

    OPTS = chompSolverOptions
    OPTS = chompSolverOptions(Name=Value)

    Description

    OPTS = chompSolverOptions creates a solver options object OPTS that you can use to set options for a manipulatorCHOMP object to optimize a trajectory.

    OPTS = chompSolverOptions(Name=Value) specifies properties using one or more name-value arguments.

    example

    Properties

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    Verbosity of the diagnostic output to the command window from the optimize function, specified as one of these options:

    • "none" — Output no information.

    • "concise" — Output the objective function results.

    • "detailed" — Output the smoothness costs, collision costs, and the objective function results.

    Data Types: char | string

    Termination tolerance on the objective function, specified as a nonnegative numeric scalar. The termination tolerance is the absolute relative change of the objective function between consecutive iterations:

    |fi−1−fifi|,

    where f is the objective function and i is an iteration.

    Maximum time to optimize the trajectory, specified as a nonnegative numeric scalar. Units are in seconds.

    Maximum number of iterations to optimize the trajectory, specified as a nonnegative integer scalar.

    Learning rate at which to update the objective function, specified as a positive numeric scalar. Units are in seconds.

    Examples

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    Open Live Script

    Load a robot model into the workspace, and create a CHOMP solver.

    robot = loadrobot("kinovaGen3",DataFormat="row");
chomp = manipulatorCHOMP(robot);

    Create spheres to represent obstacles, and add them to the CHOMP solver.

    env = [0.20 0.2 -0.1 -0.1;   % sphere, radius 0.20 at (0.2,-0.1,-0.1)
       0.15 0.2  0.0  0.5]'; % sphere, radius 0.15 at (0.2,0.0,0.5)
chomp.SphericalObstacles = env;

    To prioritize a collision-free trajectory, set the smoothness cost weight to a lower value than the collision cost weight. Then add the options to the CHOMP solver.

    chomp.SmoothnessOptions = chompSmoothnessOptions(SmoothnessCostWeight=1e-3);
chomp.CollisionOptions = chompCollisionOptions(CollisionCostWeight=10);
chomp.SolverOptions = chompSolverOptions(Verbosity="none",LearningRate=7.0);

    Initialize a trajectory, optimize it using the CHOMP solver, and show the waypoints in a figure.

    startconfig = homeConfiguration(robot);
goalconfig = [0.5 1.75 -2.25 2.0 0.3 -1.65 -0.4];
timepoints = [0 5];
timestep = 0.1;
trajtype = "minjerkpolytraj";
[wptsamples,tsamples] = optimize(chomp, ...
    [startconfig; goalconfig], ...
    timepoints, ...
    timestep, ...
    InitialTrajectoryFitType=trajtype);
show(chomp,wptsamples,NumSamples=10);
zlim([-0.5 1.3])

    Figure contains an axes object. The axes object with xlabel X, ylabel Y contains 263 objects of type patch. These objects represent base_link, Shoulder_Link, HalfArm1_Link, HalfArm2_Link, ForeArm_Link, Wrist1_Link, Wrist2_Link, Bracelet_Link, EndEffector_Link, Shoulder_Link_mesh, HalfArm1_Link_mesh, HalfArm2_Link_mesh, ForeArm_Link_mesh, Wrist1_Link_mesh, Wrist2_Link_mesh, Bracelet_Link_mesh, base_link_mesh, Shoulder_Link_coll_mesh, HalfArm1_Link_coll_mesh, HalfArm2_Link_coll_mesh, ForeArm_Link_coll_mesh, Wrist1_Link_coll_mesh, Wrist2_Link_coll_mesh, Bracelet_Link_coll_mesh, base_link_coll_mesh.

    References

    [1] Ratliff, Nathan, Siddhartha Srinivasa, Matt Zucker, and Andrew Bagnell. “CHOMP: Gradient Optimization Techniques for Efficient Motion Planning.” In 2009 IEEE International Conference on Robotics and Automation, 489–94. Kobe, Japan: IEEE, 2009. https://doi.org/10.1109/ROBOT.2009.5152817.

    Extended Capabilities

    C/C++ Code Generation
    Generate C and C++ code using MATLAB® Coder™.

    Version History

    Introduced in R2023a

    See Also

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