Improving Trajectory Optimization Using a Roadmap Framework

Improving Trajectory Optimization Using a Roadmap Framework

© 2018 IEEE. We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse roadmap framework. Through experiments in 4 commo...

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Bibliographic Details
Main Authors: Dai, Siyu, Orton, Matthew Ralph, Schaffert, Shawn, Hofmann, Andreas, Williams, Brian C
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/137335

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