Collision-Free Trajectory Planning of Mobile Robots by Integrating Deep Reinforcement Learning and Model Predictive Control.
Ze ZhangYao CaiKristian CederArvid EnlidenOssian ErikssonSoleil KylanderRajath SridharaKnut ÅkessonPublished in: CASE (2023)
Keyphrases
- trajectory planning
- collision free
- motion planning
- mobile robot
- model predictive control
- path planning
- reinforcement learning
- obstacle avoidance
- predictive control
- path planner
- control system
- dynamic environments
- real robot
- control law
- multi robot
- collision avoidance
- degrees of freedom
- multiple robots
- humanoid robot
- robotic systems
- state space
- optimal policy
- machine learning
- optimal path
- autonomous robots
- markov decision processes
- pose estimation
- learning algorithm
- mpc algorithm
- fuzzy logic
- computer vision
- real time