RL-DWA Omnidirectional Motion Planning for Person Following in Domestic Assistance and Monitoring.
Andrea EiraleMauro MartiniMarcello ChiabergePublished in: CoRR (2022)
Keyphrases
- motion planning
- mobile robot
- reinforcement learning
- degrees of freedom
- path planning
- robot arm
- trajectory planning
- humanoid robot
- obstacle avoidance
- multi robot
- robotic tasks
- real time
- daily activities
- belief space
- autonomous mobile robot
- robotic arm
- dynamic environments
- multi modal
- kinematic model
- inverse kinematics
- collision free
- potential field
- manipulation tasks
- climbing robot
- collision avoidance
- markov decision processes
- vision system