Multi-Objective Trajectory Planning with Dual-Encoder

arXiv:2403.17353v1 Announce Type: cross
Abstract: Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized trajectories. In this paper, we propose a two-stage approach to accelerate time-jerk optimal trajectory planning. Firstly, we introduce a dual-encoder based transformer model to establish a good preliminary trajectory. This trajectory is subsequently refined through sequential quadratic programming to improve its optimality and robustness. Our approach …

abstract arxiv cs.lg cs.ro dynamic encoder multi-objective paper performance planning programming robotic stage tasks trajectory type