STOMP: Stochastic trajectory optimization for motion planning
作者： Mrinal Kalakrishnan , Sachin Chitta , Evangelos Theodorou , Peter Pastor , Stefan Schaal
DOI: 10.1109/ICRA.2011.5980280
关键词: Mobile robot 、 Motion planning 、 Maxima and minima 、 Stochastic process 、 Trajectory optimization 、 Control theory 、 Mathematical optimization 、 Optimal control 、 Trajectory 、 Smoothness 、 Mathematics
摘要: We present a new approach to motion planning using a stochastic trajectory optimization framework. The approach relies on generating noisy trajectories to explore the space around an initial (possibly infeasible) trajectory, which are then combined to produced an updated trajectory with lower cost. A cost function based on a combination of obstacle and smoothness cost is optimized in each iteration. No gradient information is required for the particular optimization algorithm that we use and so general costs for which derivatives may …
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