Nonholonomic stratified motion planning along decomposed reference trajectories.
István Á. HarmatiBéla LantosShahram PayandehPublished in: IROS (2002)
Keyphrases
- motion planning
- collision free
- configuration space
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- robot arm
- humanoid robot
- kinematic model
- control law
- robotic arm
- autonomous mobile robot
- obstacle avoidance
- multi robot
- mechanical systems
- inverse kinematics
- pose estimation
- robotic tasks
- three dimensional
- belief space
- moving objects
- visual servoing
- potential field
- manipulation tasks
- nonlinear systems
- control system
- computer vision