Trajectory-Free Motion Planning of an Unmanned Surface Vehicle Based on MPC and Sparse Neighborhood Graph.
Simay AtasoyOsman Kaan KaragözMustafa Mert AnkaraliPublished in: IEEE Access (2023)
Keyphrases
- motion planning
- trajectory planning
- path planning
- neighborhood graph
- kinematic model
- configuration space
- collision free
- mobile robot
- degrees of freedom
- humanoid robot
- obstacle avoidance
- multi robot
- knn
- manifold learning
- mechanical systems
- geodesic distance
- high dimensional
- collision avoidance
- graph construction
- data points
- k nearest neighbor
- optimal path
- sparse coding
- euclidean distance
- neural network
- closed loop
- sparse representation
- three dimensional
- d objects
- voronoi diagram
- data distribution
- video sequences
- reinforcement learning
- computer vision