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MoveIt Day 2019 TrajOpt

MoveIt Day 2019 TrajOpt

At Moveit day 2019, I reviewed the Pull Request about a new planning algorithm called TrajOpt.

Ryo Kabutan

March 30, 2020
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  1. TrajOptの利点(元論文より) • The first advantage of our approach is speed.

    • The second advantage of our approach is its reliability • The third advantage of our approach regards path quality • The fourth advantage of our approach is flexibility 100−200 ms 多関節ロボットでも1秒以下で解ける 干渉回避のための制約をより強く設けることが できるため あとから別の制約も追加しやすい