Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC.
Yunfan GaoFlorian MessererJonathan FreyNiels van DuijkerenMoritz DiehlPublished in: CoRR (2023)
Keyphrases
- motion planning
- mobile robot
- collision free
- path planning
- degrees of freedom
- multi robot
- robust optimization
- obstacle avoidance
- dynamic environments
- collision avoidance
- path planner
- potential field
- humanoid robot
- robotic arm
- autonomous mobile robot
- mathematical programming
- autonomous robots
- reinforcement learning
- closed loop
- search space
- search algorithm