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CHOMP is a motion planner based on trajectory optimization.
It generates smooth, collision-free trajectories. For technical, algorithmic details,
please refer to:
"CHOMP: Gradient Optimization Techniques for Efficient Motion Planning".
Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa.
IEEE International Conference on Robotics and Automation, May 2009.
CHOMP is a motion planner based on trajectory optimization.
It generates smooth, collision-free trajectories. For technical, algorithmic details,
please refer to:
"CHOMP: Gradient Optimization Techniques for Efficient Motion Planning".
Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa.
IEEE International Conference on Robotics and Automation, May 2009.
CHOMP is a motion planner based on trajectory optimization.
It generates smooth, collision-free trajectories. For technical, algorithmic details,
please refer to:
"CHOMP: Gradient Optimization Techniques for Efficient Motion Planning".
Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa.
IEEE International Conference on Robotics and Automation, May 2009.
This package implements the motion planner interface that the move_arm package requires. This interface is described in detail in the arm navigation tutorials. To use CHOMP, simply launch the pr2_arm_navigation_planning/launch/chomp_planning.launch file instead of any of the other planners.
Video
ROS API
ROS API is UNREVIEWED and UNSTABLE
C++ API is UNREVIEWED and UNSTABLE
This planner has currently been configured and tested only for the PR2 right arm. Testing and release for other robots is on the roadmap.
This planner cannot deal with path constraints
Tutorials
To check out tutorials for this package, just follow the general set of Tutorials on the arm navigation tutorials page. Replace the launch file for OMPL with the launch file for CHOMP (the launch file for CHOMP can be found in pr2_arm_navigation_planning/launch).
