Optimization Methods for Robot Motion Planning in JuMP - JuliaCon 2024
Explore optimization methods for robot motion planning using JuMP in this 24-minute conference talk from JuliaCon 2024. Dive into the challenge of finding the smoothest path from a starting point to an end point while avoiding stationary obstacles. Learn how to represent the problem by dividing the map into safe regions and using mixed integer programming to assign path segments. Discover the use of polynomials to represent paths and the application of Hypatia, a generic conic solver with MOSEK, to solve the optimization problem. Gain insights into visualizing results with Makie and developing interactive dashboards using IJulia. Examine the main results of a numerical experiment and discuss challenges associated with optimization-based approaches. Acquire practical techniques and explore key APIs in JuMP and related math packages for solving complex motion planning problems. Suitable for those interested in applied mathematics, engineering, and robotics.