Efficient Trajectory Optimization for Robot Motion Planning

Versione 1.0.1 (1,97 MB) da 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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Aggiornato 21 feb 2020

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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

Cita come

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.

Visualizza più stili

Yu Zhao (2024). Efficient Trajectory Optimization for Robot Motion Planning (https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples), GitHub. Recuperato aprile 24, 2024.

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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

Le versioni che utilizzano il ramo predefinito di GitHub non possono essere scaricate

Versione	Pubblicato	Note della release
1.0.1	21 feb 2020	Corrected dependency.
1.0.0	21 feb 2020

Per visualizzare o segnalare problemi su questo componente aggiuntivo di GitHub, visita GitHub Repository.

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})} }