trajopt: Trajectory Optimization for Motion Planning

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trajopt is a software framework for generating robot trajectories by local optimization.

The following core capabilities are included:

1. a solver for non-convex optimization problems, using sequential convex optimization.
2. cost and constraint functions for kinematics and collision avoidance
3. constructing problems from JSON-based specification format

Implementation in moveit

collision

tesseract_collision

Implementation in tesseract

Implementation

Collision detection

通过多个球近似机器人实体

Approximate each link as a union of spheres:Medial Spheres for Shape Approximation

First get distance field for mesh Find medial axis points

Trilinear interpolation

SQP

SQP-GS： Sequential Quadratic Programming (SQP) with Gradient Sampling (GS)

Ref

• implementations
  • trajopt single
  • tesseract trajopt
  • tesseract motion planner
  • trajopt in moveit