Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining.
Jijie XuVincent DuindamRon AlterovitzKen GoldbergPublished in: CASE (2008)
Keyphrases
- motion planning
- collision free
- robotic tasks
- degrees of freedom
- path planning
- mobile robot
- inverse kinematics
- robot arm
- trajectory planning
- dynamic environments
- humanoid robot
- robotic arm
- multi robot
- autonomous mobile robot
- configuration space
- mechanical systems
- belief space
- potential field
- manipulation tasks
- obstacle avoidance
- climbing robot
- computer vision
- free space
- multi modal
- vision system
- viewpoint
- high dimensional
- multi agent