Structured Motion Planning in the Local Configuration Space.
Ali M. S. ZalzalaAlan S. MorrisPublished in: Robotica (1991)
Keyphrases
- optimal solution
- motion planning
- configuration space
- degrees of freedom
- path planning
- trajectory planning
- mobile robot
- humanoid robot
- robot arm
- robotic arm
- multi robot
- robotic tasks
- mathematical formalism
- inverse kinematics
- autonomous mobile robot
- control law
- obstacle avoidance
- manipulation tasks
- articulated body
- real time
- climbing robot
- collision free
- motion tracking
- pose estimation
- vision system
- feature extraction