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    08 Trajectoryoptimization1 Slides

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    Bavantha Udugama
    1. Trajectory planning involves generating a trajectory as a function of time for a robot to navigate along, as opposed to just a path with waypoints but no timing information. 2. There are two main approaches to trajectory planning - direct planning that optimizes the path and trajectory simultaneously, and decoupled planning that first plans a path then generates the trajectory. 3. Trajectory optimization involves specifying constraints like boundary conditions and continuity conditions between trajectory segments to generate smooth trajectories for robots to follow between waypoints.

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    08 Trajectoryoptimization1 Slides

    Uploaded by

    Bavantha Udugama
    31 views15 pages
    1. Trajectory planning involves generating a trajectory as a function of time for a robot to navigate along, as opposed to just a path with waypoints but no timing information. 2. There are two main approaches to trajectory planning - direct planning that optimizes the path and trajectory simultaneously, and decoupled planning that first plans a path then generates the trajectory. 3. Trajectory optimization involves specifying constraints like boundary conditions and continuity conditions between trajectory segments to generate smooth trajectories for robots to follow between waypoints.

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    1. Trajectory planning involves generating a trajectory as a function of time for a robot to navigate along, as opposed to just a path with waypoints but no timing information. 2. There are two main approaches to trajectory planning - direct planning that optimizes the path and trajectory simultaneously, and decoupled planning that first plans a path then generates the trajectory. 3. Trajectory optimization involves specifying constraints like boundary conditions and continuity conditions between trajectory segments to generate smooth trajectories for robots to follow between waypoints.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    31 views15 pages

    08 Trajectoryoptimization1 Slides

    Uploaded by

    Bavantha Udugama
    1. Trajectory planning involves generating a trajectory as a function of time for a robot to navigate along, as opposed to just a path with waypoints but no timing information. 2. There are two main approaches to trajectory planning - direct planning that optimizes the path and trajectory simultaneously, and decoupled planning that first plans a path then generates the trajectory. 3. Trajectory optimization involves specifying constraints like boundary conditions and continuity conditions between trajectory segments to generate smooth trajectories for robots to follow between waypoints.

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    © All Rights Reserved
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    Download as pdf or txt
    of 15

    16.

    485: VNAV - Visual Navigation for


    Autonomous Vehicles
    Lecture 8: Trajectory Optimization
    Luca Carlone
    Planning vs. Control

    desired
    trajectory control robot’s
    inputs state
    + Controller Robot
    -

    Sensors
    Planning vs. Control

    desired
    trajectory control robot’s
    inputs state
    Planning + Controller Robot
    -
    initial
    and
    goal
    state
    Sensors
    B
    obstacle

    obstacle obstacle

    obstacle

    A
    Trajectory Planning vs. Path Planning
    • Path vs. trajectory:
    • A path usually contains a sequence of waypoints, without time label
    or information about velocity or higher order of derivatives.
    • A trajectory defines the path the robot should navigate as a function
    of time.
    • Path planning:
    • “slow” systems
    • Many approaches: graph-based algorithms (PRM, A* and variants),
    sampling-based methods (RRT, RRT* and variants)
    • Trajectory planning:
    • Key for high-speed maneuvers on drones
    Path / Motion Planning
    • Open-source libraries
    • The Open Motion Planning Library (OMPL)
    • http://ompl.kavrakilab.org/
    • Motion Strategy Library (MSL)
    • http://msl.cs.uiuc.edu/msl/
    • RRT* Library
    • https://svn.csail.mit.edu/rrtstar/
    • Sampling Based Planning Library
    • https://svn.csail.mit.edu/smp
    • References:
    • Howie Choset , Kevin Lynch et al, “ Principles of Robot Motion” MIT press, 2005.
    • Steven Lavalle, “ Planning Algorithms”, Cambridge University Press, 2006.
    Path / Motion Planning Example

    • RRT*:
    Rapidly
    exploring
    Random
    Trees
    Path / Motion Planning

    COMBINATORIAL PLANNING SAMPLING BASED PLANNING

    ❑ (resolution) complete
    ▪ they find the solution if ❑ Probabilistic Complete
    exists, otherwise they ▪ The probability of finding
    report failure
    a solution if it exists tends
    ❑ No need for collision
    checking, since is to one, otherwise it may
    explicitly defined run forever.
    ❑ Expensive computation,
    impractical for higher ❑ More practical
    dimensional systems ❑ Narrow passage challenge
    ▪ Exploding number of cells ❑ The output path is usually
    ❑ The output path is usually
    jagged and needs jagged and needs
    smoothing smoothing
    Trajectory Planning: Two Approaches
    • Direct trajectory planning: plan the
    path and optimize trajectory
    simultaneously
    • Typically slow for online planning
    and fast dynamics (difficult to A
    account for obstacles)
    • Fast heuristics (next slide): B
    motion primitives

    • Decoupled trajectory planning: first


    path planning then trajectory
    generation
    • Fast computation (only partially A
    accounts for obstacles)
    • Polynomial trajectory optimization B
    Motion Primitives
    • Input:
    • A library of motion primitives: each
    motion primitive is generated by
    forward simulation of the system for a
    given control sequence
    • The current robot state
    • Output: a choice of motion primitive that
    minimizes a cost function while avoiding
    obstacles.

    • The final trajectory is usually not smooth


    • More complex instantiations:
    https://www.cs.cmu.edu/~maxim/files/
    tutorials/robschooltutorial_oct10.pdf
    Output: 1->1>4->1->1->6
    Motion Primitives For Aggressive Flight

    2017
    Motion Primitives For Aggressive Flight

    2019
    Decoupled Trajectory Planning
    Intermediate
    waypoints
    desired
    trajectory control robot’s
    Path Trajectory inputs state
    planning optimization
    + Controller Robot
    -

    Trajectory Planning
    Sensors

    B
    Trajectory Optimization

    2013
    Trajectory Optimization

    2016-2017
    Trajectory Optimization
    x
    x1(t1) = x2(t1) = x̄1
    x· 1(t1) = x· 2(t1) x2(t2) = x3(t2) = x̄2
    x··1(t1) = x··2(t1) x· 2(t2) = x· 3(t2) x3(t3) = x̄3
    x··2(t2) = x··3(t2) x· 3(t3) = v̄3

    x1(t0) = x̄0
    x· 1(t0) = v̄0

    t0 t1 t2 t3
    t
    x1(t) x2(t) x3(t)

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