Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

How to generate a trajectory path from a series of points

I require some advice regarding how to generate a path planning algorithm that, when provided with a start pose (x,y,z) and orientation (x,y,z,yaw), a series of intermediate points (optional) and an end pose and orientation, the algorithm generates an optimal path. I have researched possible approaches, however many of different approaches seem to implement object aversion, which is not required in this instance. The algorithm will be implemented in python and ROS and shall be used to control the movement of a robot with 6 DOF. I initially considered using the Lagrange algorithm to calculate a polynomial equation that passes through each of the specified points, however the error margin seems quite high using this approach. Does any one have any suggestions?