Efficient Trajectory Optimization for Robot Motion Planning
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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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.
Yu Zhao (2026). Efficient Trajectory Optimization for Robot Motion Planning (https://github.com/yzhao334/Efficient-Trajectory-Optimization-for-Robot-Motion-Planning--Examples), GitHub. Retrieved .
General Information
- Version 1.0.1 (1.97 MB)
-
View License on GitHub
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
Versions that use the GitHub default branch cannot be downloaded
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.0.1 | Corrected dependency. |
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| 1.0.0 |
