Cartesian Constrained Stochastic Trajectory Optimization for Motion Planning

Cartesian Constrained Stochastic Trajectory Optimization for Motion Planning

This paper presents novel extensions of the Stochastic Optimization Motion Planning (STOMP), which considers cartesian path constraints. It potentially has high usage in many autonomous applications with robotic arms, where preservation or minimization of tool-point rotation is required. The origina...

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Bibliographic Details
Main Authors: Michal Dobiš, Martin Dekan, Adam Sojka, Peter Beňo, František Duchoň
Format: Article
Language:English
Published: MDPI AG 2021-12-01
Series:Applied Sciences
Subjects:
motion planning
cartesian constraints
robotic arms
Online Access:https://www.mdpi.com/2076-3417/11/24/11712

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