Vision Assisted Control of Lower Extremity Exoskeleton for Obstacle Avoidance With Dynamic Constraint Based Piecewise Nonlinear MPC.
Yuxiang HuaHe ZhangYinghui LiJie ZhaoYanhe ZhuPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- lower extremity
- obstacle avoidance
- visually guided
- mobile robot
- path planning
- autonomous vehicles
- space exploration
- piecewise linear
- mobile robot navigation
- visual navigation
- trajectory planning
- dynamic environments
- motion planning
- real time
- computer vision
- autonomous robots
- control method
- optimal control
- dynamic model
- human body
- vision system
- video sequences
- image sequences
- mpc algorithm