Long-Horizon Motion Planning via Sampling and Segmented Trajectory Optimization.
Jessica EnShiuan LeuMichael WangMasayoshi TomizukaPublished in: CoRR (2022)
Keyphrases
- motion planning
- trajectory planning
- degrees of freedom
- collision free
- configuration space
- path planning
- multi robot
- robot arm
- autonomous mobile robot
- humanoid robot
- mobile robot
- robotic arm
- robotic tasks
- potential field
- inverse kinematics
- climbing robot
- mechanical systems
- control law
- dynamic environments
- kinematic model
- obstacle avoidance
- three dimensional
- real time
- shortest path
- manipulation tasks
- machine learning