Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles.
Dzenan LapandicChristos K. VerginisDimos V. DimarogonasBo WahlbergPublished in: CoRR (2023)
Keyphrases
- motion planning
- path planning
- autonomous vehicles
- mechanical systems
- obstacle avoidance
- robotic arm
- unmanned aerial vehicles
- mobile robot
- degrees of freedom
- trajectory planning
- robot arm
- configuration space
- multi robot
- collision avoidance
- humanoid robot
- receding horizon
- three dimensional
- kinematic model
- robotic tasks
- inverse kinematics
- autonomous mobile robot
- dynamic environments
- collision free
- potential field
- d objects
- control method
- robot control
- path finding
- optimal path
- control law
- motion control
- gait analysis
- viewpoint
- video sequences
- real time