Motion Planning with Homotopy Class Constraints via the Auxiliary Energy Reduction Technique.
Wenbo HeYunshen HuangShen ZengPublished in: ACC (2022)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- humanoid robot
- mechanical systems
- robotic tasks
- robotic arm
- obstacle avoidance
- autonomous mobile robot
- multi robot
- configuration space
- control law
- robot navigation
- spatio temporal
- climbing robot
- belief space
- collision free
- inverse kinematics
- energy consumption
- control system