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 (Author), Orton, Matthew Ralph (Author), Schaffert, Shawn (Author), Hofmann, Andreas (Author), Williams, Brian C (Author)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2021-11-04T14:51:25Z.
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