Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability.
Laura LützowYue MengAndres S. Chavez ArmijosChuchu FanPublished in: ICRA (2023)
Keyphrases
- collision free
- motion planning
- path planning
- degrees of freedom
- mobile robot
- dynamic environments
- trajectory planning
- robot arm
- collision avoidance
- potential field
- belief space
- humanoid robot
- autonomous mobile robot
- obstacle avoidance
- state space
- inverse kinematics
- robotic arm
- multi robot
- shortest path
- mechanical systems
- robotic tasks
- configuration space
- arbitrary shape
- density based clustering
- heuristic search
- clustering method