Motion planning with sequential convex optimization and convex collision checking
نویسندگان
چکیده
منابع مشابه
Motion planning with sequential convex optimization and convex collision checking
We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our algorithm can be used to find collision-free trajectories from naïve, straight-line initializations that might be in collision. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2014
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364914528132