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Smooth Motion Planning and Control
Willow Garage Internship, Summer 2009Mrinal Kalakrishnan
University of Southern California
August 28, 2009
Overview
Smooth Motion Planning
CHOMP - CovariantHamiltonian Optimization forMotion Planning, Ratliff et. al.,ICRA 2009.Implemented in the
chomp_motion_planner
ROS package.
Smooth Control
Automatic spline trajectorygeneration from waypoints.Usable by all motion planners.Implemented in the
spline_smoother
ROSpackage.
CHOMP
Covariant Hamiltonian Optimization for Motion Planning, Ratliff et. al., ICRA 2009
Sampling based planners...Find feasible collision-free paths very fast.Typically produce jerky / redundant motion.Paths require post-processing, smoothing, optimization.
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