Motion and Path Planning

Manipulator planning, mobile robot planning, trajectory generation

Plan paths using customizable planners such as rapidly exploring random tree (RRT), and covariant Hamiltonian optimization for motion planning (CHOMP) algorithms for manipulators, and probabilistic roadmap (PRM) for mobile robots. Design customizable motion planners by leveraging Navigation Toolbox™.

Generate trajectories for smooth motion around a global path while avoiding obstacles.

Related Information

Robotic Manipulators (MathWorks Teaching Resources)

Featured Examples

Pick-And-Place Workflow Using CHOMP for Manipulators

Use CHOMP to plan smooth and collision-free trajectories for a pick-and-place workflow

Open Live Script

Path Following for a Differential Drive Robot

Demonstrates how to control a robot to follow a desired path using a Robot Simulator. The example uses the Pure Pursuit path following controller to drive a simulated robot along a predetermined path. A desired path is a set of waypoints defined explicitly or computed using a path planner (refer to Path Planning in Environments of Different Complexity). The Pure Pursuit path following controller for a simulated differential drive robot is created and computes the control commands to follow a given path. The computed control commands are used to drive the simulated robot along the desired trajectory to follow the desired path based on the Pure Pursuit controller.

Open Live Script

Design Trajectory with Velocity Limits Using Trapezoidal Velocity Profile

Use the trapezoidal velocity profile to design a trajectory with input bounds rather than parameters.

Open Live Script

Motion and Path Planning

Categories

Related Information

Featured Examples

Pick-And-Place Workflow Using CHOMP for Manipulators

Path Following for a Differential Drive Robot

Design Trajectory with Velocity Limits Using Trapezoidal Velocity Profile