Obstacle Avoidance for Robotic Manipulator in Joint Space via Improved Proximal Policy Optimization.
Yongliang WangHamidreza KasaeiPublished in: CoRR (2022)
Keyphrases
- obstacle avoidance
- robotic manipulator
- joint space
- end effector
- degrees of freedom
- motion planning
- mobile robot
- path planning
- trajectory planning
- visual servoing
- robot manipulators
- inverse kinematics
- robot arm
- global optimization
- vision system
- control scheme
- optimization algorithm
- robotic systems
- configuration space
- dynamic environments
- autonomous robots
- evolutionary algorithm
- optical flow