Reference for the optimizePath function?

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Niklas Persson
Niklas Persson 2022-10-11
回答： Laxit Gavshinde 2022-10-14
Hi,
I was wondering if anyone can point me in a direction of some kind of reference for the optimizePath where I can read about the details of the function? I could not find anything in the documentation of the function and don't really know where to look, perhaps there is no reference either.. But I have my fingers crossed!

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Torsten
Torsten 2022-10-11
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Torsten
Torsten 2022-10-12
Then you should contact Mathworks Support Center for additional information.
Niklas Persson
Niklas Persson 2022-10-13
I ended up contact the support and he pointed me to the source code where I eventually found the background information I was looking for.
Thanks for your help!

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更多回答（2 个）

Torsten
Torsten 2022-10-11
Laxit Gavshinde
Laxit Gavshinde 2022-10-14
hey Niklas,
optimizePath implements Time Elastic Band approach published by C. Rösmann et. al. The main paper it implements is:
C. Rösmann, F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sept. 2017.
Other papers which can help in understanding how the optimization works is:
C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143.

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