Improving Trajectory Optimization Using a Roadmap Framework

  title={Improving Trajectory Optimization Using a Roadmap Framework},
  author={Siyu Dai and M. Orton and S. Schaffert and Andreas G. Hofmann and B. Williams},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • Siyu Dai, M. Orton, +2 authors B. Williams
  • Published 2018
  • Computer Science, Engineering
  • 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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 common application scenarios with 5000 test cases each, we show that optimization-based or sampling-based planners alone are not effective for realistic problems where fast planning times are required. To the best of… Expand
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