Free Space Mapping and Motion Planning in Configuration Space for Mobile Manipulators.
James WardJayantha KatupitiyaPublished in: ICRA (2007)
Keyphrases
- motion planning
- free space
- configuration space
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- single point
- robot arm
- unknown environments
- collision free
- robotic tasks
- multi robot
- humanoid robot
- control law
- robotic arm
- field of view
- binocular disparity
- mathematical formalism
- obstacle avoidance
- mechanical systems
- viewpoint
- potential field
- inverse kinematics
- machine learning
- end effector
- autonomous robots