motion_planner

运动规划求解器 §

• 对比论文https://link.springer.com/article/10.1007/s00170-021-07985-5

optimization类求解器 §

OMPL §

• MoveIt自带的默认运动规划求解器

CHOMP (covariant Hamiltonian optimization for motion planning) §

• gradient-based optimization

STOMP (Stochastic trajectory optimization for motion planning) §

• 论文https://ieeexplore.ieee.org/document/5980280
• 教程https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html
• stochastic gradient-free optimization
• 需先求解末端IK，将目标的末端位姿转化为目标的关节配置，再进行路径规划。

求解器分类2（？） §

Pilz Industrial Motion Planner §

• 不考虑避障？

SBPL (Search-Based Planning Library) §