Robustified Time-optimal Collision-free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions.
Shuhao ZhangMathias BosBastiaan VandewalWilm DecréJoris GillisJan SweversPublished in: ICRA (2024)
Keyphrases
- motion planning
- collision free
- autonomous mobile robots
- mobile robot
- path planning
- robot arm
- degrees of freedom
- trajectory planning
- indoor environments
- obstacle avoidance
- dynamic environments
- potential field
- robotic arm
- control law
- humanoid robot
- multi robot
- robotic tasks
- optimal path
- inverse kinematics
- autonomous robots
- collision avoidance
- autonomous navigation
- configuration space
- free space
- spatio temporal
- optimal control