Robot Trajectory Planning Computation on Arm jogging
15Mean Computation TimeDifferentiable Constraint-Based Trajectory Planning
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=02026.06 | 15 | 0.3 | 25 | |
| SpheresNumber of Obstacles=02026.06 | 20 | 0.3 | 36 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=12026.06 | 22 | 0.3 | 49 | |
| SpheresNumber of Obstacles=12026.06 | 29 | 0.3 | 46 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=32026.06 | 46 | 0.5 | 76 | |
| SpheresNumber of Obstacles=32026.06 | 58 | 1.1 | 99 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=62026.06 | 114 | 0.4 | 186 | |
| SpheresNumber of Obstacles=62026.06 | 116 | 1.4 | 170 | |
| NMPC-MPNumber of Obstacles=02026.06 | 151 | 0.3 | 168 | |
| NMPC-MPNumber of Obstacles=12026.06 | 195 | 0.3 | 210 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=92026.06 | 196 | 0.9 | 493 | |
| SpheresNumber of Obstacles=92026.06 | 202 | 1.1 | 269 | |
| NMPC-MPNumber of Obstacles=32026.06 | 301 | 0.3 | 326 | |
| SpheresNumber of Obstacles=122026.06 | 301 | 0.8 | 392 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=122026.06 | 316 | 1.3 | 552 | |
| NMPC-MPNumber of Obstacles=62026.06 | 453 | 2 | 477 | |
| NMPC-MPNumber of Obstacles=92026.06 | 623 | 2.7 | 654 | |
| NMPC-MPNumber of Obstacles=122026.06 | 797 | 3.1 | 849 |