Continuous Implicit SDF Based Any-Shape Robot Trajectory Optimization.
Tingrui ZhangJingping WangChao XuAlan GaoFei GaoPublished in: IROS (2023)
Keyphrases
- trajectory planning
- optimization problems
- shape model
- shape analysis
- optimization process
- real time
- mobile robot
- global optimization
- human robot interaction
- shape representation
- optimization algorithm
- shape descriptors
- configuration space
- position and orientation
- multiscale
- simulated robot
- shape features
- robotic systems
- vision system
- motion planning
- medial axis
- humanoid robot
- robot navigation
- robot control
- visual servoing
- robot manipulators
- collision free
- path planning
- kinematic model