A Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles.
Manuel Castillo-LopezPhilippe LudivigSeyed Amin Sajadi-AlamdariJosé Luis Sánchez-LópezMiguel A. Olivares-MéndezHolger VoosPublished in: CoRR (2020)
Keyphrases
- motion planning
- collision free
- real time
- chance constrained
- path planning
- degrees of freedom
- mobile robot
- dynamic environments
- trajectory planning
- humanoid robot
- multi robot
- control system
- collision avoidance
- robust optimization
- control law
- configuration space
- stochastic programming
- computationally tractable
- vision system
- robotic arm
- obstacle avoidance
- optimal control
- dynamic model