ROBOTIC MOTION PLANNING USING CONVEX OPTIMIZATION METHODS

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...

Ligand-binding using Robotic Motion Planning

Robotic Motion Planning

This paper demonstrates an application of algebraic geometry to the real problem of robotic motion planning. We model an abstract robot arm using a system of polynomial equations specifying constraints imposed by the arm’s various linkages, and demonstrate techniques for solving them in common situations.

Wheelchair Robotic Motion Planning

Heuristic optimization methods for motion planning of autonomous agricultural vehicles

In this paper, two heuristic optimization techniques are tested and compared in the application of motion planning for autonomous agricultural vehicles: Simulated Annealing and Genetic Algorithms. Several preliminary experimentations are performed for both algorithms, so that the best neighborhood definitions and algorithm parameters are found. Then, the two tuned algorithms are run extensively...