Efficient Trajectory Optimization for Robot Motion Planning

版本 1.0.1 (2.0 MB) 作者: Yu Zhao

Examples of efficient trajectory optimization for robot motion planning

https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples

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更新时间 2020/2/21

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Solving robot motion planning using numerical methods for optimal control problems. The planning can take kinematics constraints (e.g. position, velocity, acceleration, jerk bounds), dynamic constraints (e.g. robot rigid body dynamics include gravity, centrifugal and coriolis force, inertial force, joint torque limit, or even torque change rate limit), and collision avoidance into consideration. Solution time is within several seconds.

Details see publication: 'Efficient Trajectory Optimization for Robot Motion Planning', Yu Zhao, Hsien-Chung Lin, Masayoshi Tomizuka, ICARCV 2018.

See https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples for list of available demos.

Required packages: chebfun, CasADi. Other dependencies (STLRead and STLWrite) included with package

引用格式

Zhao, Yu, et al. “Efficient Trajectory Optimization for Robot Motion Planning.” 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), IEEE, 2018, doi:10.1109/icarcv.2018.8581059.

查看更多格式

Yu Zhao (2024). Efficient Trajectory Optimization for Robot Motion Planning (https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples), GitHub. 检索来源 2024/4/30.

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MainDemo.m

Core/PseudoOpt

Core/Utils/Robotics

Core/Utils/STLRead

stlread

Core/Utils/STLWrite

stlwrite

Examples/FromARTE/M20iA

Examples/M20-dyn-obstacle

Examples/M20-dyn-simple

Examples/M20-kin-obstacle

Examples/test-Wafer-3axis

Examples/test2D-dyn-obstacle

Examples/test2D-kin-obstacle

Examples/test2D-simple

Core/Utils/STLRead

3D Model Demo

无法下载基于 GitHub 默认分支的版本

版本	已发布	发行说明
1.0.1	2020/2/21	Corrected dependency.
1.0.0	2020/2/21

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。

MLA	Zhao, Yu, et al. “Efficient Trajectory Optimization for Robot Motion Planning.” 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), IEEE, 2018, doi:10.1109/icarcv.2018.8581059.
APA	Zhao, Y., Lin, H.-C., & Tomizuka, M. (2018). Efficient Trajectory Optimization for Robot Motion Planning. In 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). IEEE. Retrieved from https://doi.org/10.1109%2Ficarcv.2018.8581059
BibTeX	@inproceedings{Zhao_2018, doi = {10.1109/icarcv.2018.8581059}, url = {https://doi.org/10.1109%2Ficarcv.2018.8581059}, year = 2018, month = {nov}, publisher = {{IEEE}}, author = {Yu Zhao and Hsien-Chung Lin and Masayoshi Tomizuka}, title = {Efficient Trajectory Optimization for Robot Motion Planning}, booktitle = {2018 15th International Conference on Control, Automation, Robotics and Vision ({ICARCV})} }