MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control.
Kohei HondaHiroyuki OkudaTatsuya SuzukiAkira ItoPublished in: IV (2023)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- robot arm
- robotic systems
- autonomous mobile robot
- humanoid robot
- inverse kinematics
- manipulation tasks
- control law
- multi robot
- robotic tasks
- optimal control
- kinematic model
- control system
- robot manipulators
- visual servoing
- collision free
- obstacle avoidance
- master slave
- configuration space
- belief space
- autonomous navigation
- machine learning
- robot control
- vision system
- viewpoint