Robot Trajectory Planning Computation on Obstacles
14Mean Computation TimeDifferentiable Constraint-Based Trajectory Planning
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=02026.06 | 14 | 0.3 | 22 | |
| SpheresNumber of Obstacles=02026.06 | 21 | 0.3 | 37 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=12026.06 | 26 | 0 | 40 | |
| SpheresNumber of Obstacles=12026.06 | 36 | 0.4 | 55 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=32026.06 | 59 | 0.9 | 89 | |
| SpheresNumber of Obstacles=32026.06 | 75 | 1.1 | 117 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=62026.06 | 124 | 1.2 | 250 | |
| SpheresNumber of Obstacles=62026.06 | 148 | 1.3 | 232 | |
| NMPC-MPNumber of Obstacles=02026.06 | 166 | 0 | 197 | |
| NMPC-MPNumber of Obstacles=12026.06 | 209 | 0.5 | 258 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=92026.06 | 231 | 0.8 | 664 | |
| SpheresNumber of Obstacles=92026.06 | 248 | 0.4 | 347 | |
| NMPC-MPNumber of Obstacles=32026.06 | 314 | 0.9 | 352 | |
| SpheresNumber of Obstacles=122026.06 | 366 | 1.2 | 534 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=122026.06 | 377 | 2.8 | 850 | |
| NMPC-MPNumber of Obstacles=62026.06 | 488 | 1.6 | 593 | |
| NMPC-MPNumber of Obstacles=92026.06 | 681 | 3.4 | 759 | |
| NMPC-MPNumber of Obstacles=122026.06 | 881 | 3 | 1,011 |