Online Trajectory Planning Through Combined Trajectory Optimization and Function Approximation: Application to the Exoskeleton Atalante
Alexis Duburcq,Yann Chevaleyre,Nicolas Bredeche,Guilhem Boéris,Alexis Duburcq,Yann Chevaleyre,Nicolas Bredeche,Guilhem Boéris
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we present a novel algorithm called Guided Trajectory Learning that learns a function approximation of solutions computed through trajectory optimization while ensuri...
