Robot Trajectory Planning Computation on Self-collision
14Mean TimeDifferentiable Constraint-Based Trajectory Planning
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=02026.06 | 14 | 0 | 28 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=12026.06 | 24 | 0.3 | 39 | |
| SpheresNumber of Obstacles=02026.06 | 25 | 0 | 49 | |
| SpheresNumber of Obstacles=12026.06 | 34 | 0.3 | 57 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=32026.06 | 62 | 0.6 | 127 | |
| SpheresNumber of Obstacles=32026.06 | 84 | 0.9 | 206 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=62026.06 | 107 | 0.8 | 275 | |
| SpheresNumber of Obstacles=62026.06 | 130 | 0.9 | 214 | |
| NMPC-MPNumber of Obstacles=02026.06 | 155 | 0.9 | 198 | |
| NMPC-MPNumber of Obstacles=12026.06 | 195 | 0 | 245 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=92026.06 | 210 | 1.8 | 345 | |
| NMPC-MPNumber of Obstacles=32026.06 | 299 | 1.3 | 360 | |
| SpheresNumber of Obstacles=92026.06 | 305 | 2.1 | 1,639 | |
| Differentiable Constraint-Based Trajectory PlanningNumber of Obstacles=122026.06 | 398 | 2.6 | 2,884 | |
| SpheresNumber of Obstacles=122026.06 | 448 | 1.9 | 2,481 | |
| NMPC-MPNumber of Obstacles=62026.06 | 467 | 2.6 | 544 | |
| NMPC-MPNumber of Obstacles=92026.06 | 640 | 2 | 739 | |
| NMPC-MPNumber of Obstacles=122026.06 | 809 | 4.5 | 1,006 |