A gradient-based path optimization method for motion planning.
Mylène CampanaFlorent LamirauxJean-Paul LaumondPublished in: Adv. Robotics (2016)
Keyphrases
- optimization method
- motion planning
- collision free
- configuration space
- degrees of freedom
- path planning
- optimization algorithm
- optimization methods
- mobile robot
- trajectory planning
- robot arm
- optimization process
- genetic algorithm
- humanoid robot
- global optimum
- particle swarm
- autonomous mobile robot
- evolutionary algorithm
- simulated annealing
- nelder mead simplex
- differential evolution
- metaheuristic
- robotic tasks
- obstacle avoidance
- robotic arm
- shortest path
- inverse kinematics
- optimal path
- manipulation tasks
- nonlinear optimization
- mechanical systems
- dynamic environments
- multi modal
- collision avoidance
- climbing robot
- optimization procedure
- spatio temporal
- real time
- path finding