Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control.
Raghvendra V. CowlagiPanagiotis TsiotrasPublished in: ICRA (2012)
Keyphrases
- trajectory planning
- motion planning
- model predictive control
- predictive control
- path planning
- control system
- mobile robot
- degrees of freedom
- autonomous mobile robot
- control law
- humanoid robot
- obstacle avoidance
- multi robot
- configuration space
- dynamic environments
- experimental data
- viewpoint
- kinematic model
- genetic algorithm
- genetic algorithm ga
- rough sets
- three dimensional