Reference for the optimizePath function?

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!

Answer 1

[Torsten]

https://de.mathworks.com/help/pdf_doc/nav/index.html

[Niklas Persson]

Thanks for the answer, however, it is basicially the same information as you would find in the online documentation for the function which is included in my original post. I'm curious about the equations used and how the problem is set up.

[Torsten]

Then you should contact Mathworks Support Center for additional information.

[Niklas Persson]

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!

Answer 2

[Torsten]

https://de.mathworks.com/help/pdf_doc/nav/index.html

Answer 3

[Laxit Gavshinde]

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.