Efficient Trajectory Optimization for Robot Motion Planning

Version 1.0.1 (1.97 MB) by 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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Updated 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

Cite As

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.

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Yu Zhao (2024). Efficient Trajectory Optimization for Robot Motion Planning (https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples), GitHub. Retrieved April 23, 2024.

MATLAB Release Compatibility

Created with R2017b

Compatible with any release

Platform Compatibility

Windows macOS Linux

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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

Versions that use the GitHub default branch cannot be downloaded

Version	Published	Release Notes
1.0.1	21 Feb 2020	Corrected dependency.
1.0.0	21 Feb 2020

To view or report issues in this GitHub add-on, visit the 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})} }