Motion Planning Skill

Overview

Expert skill for implementing and configuring motion planning algorithms, including sampling-based planners (OMPL) and optimization-based trajectory planners.

Capabilities

• Configure OMPL planners (RRT, RRT*, RRT-Connect, PRM, FMT*)
• Implement hybrid A* for car-like robots
• Set up lattice-based planners
• Configure trajectory optimization (TrajOpt, CHOMP, STOMP)
• Implement time-optimal trajectory planning
• Set up path smoothing algorithms
• Configure state space and validity checking
• Implement kinodynamic planning
• Set up multi-query planning with roadmaps
• Configure asymptotically optimal planners