Use CHOMP to plan smooth and collision-free trajectories for a pick-and-place workflow

Demonstrates how to control a robot to follow a desired path using a Robot Simulator. The example uses the Pure Pursuit path following controller to drive a simulated robot along a predetermined path. A desired path is a set of waypoints defined explicitly or computed using a path planner (refer to Path Planning in Environments of Different Complexity). The Pure Pursuit path following controller for a simulated differential drive robot is created and computes the control commands to follow a given path. The computed control commands are used to drive the simulated robot along the desired trajectory to follow the desired path based on the Pure Pursuit controller.

Use the trapezoidal velocity profile to design a trajectory with input bounds rather than parameters.