Motion planning for a reversing general 2-trailer configuration using Closed-Loop RRT.
Niclas EvestedtOskar LjungqvistDaniel AxehillPublished in: IROS (2016)
Keyphrases
- closed loop
- motion planning
- control law
- open loop
- control scheme
- configuration space
- feedback control
- degrees of freedom
- control system
- trajectory planning
- path planning
- mobile robot
- asymptotic stability
- parameter identification
- humanoid robot
- nonlinear systems
- inverse kinematics
- visual servoing
- collision free
- robotic tasks
- adaptive control
- robot arm
- real time
- pid controller
- multi robot
- tracking error
- sufficient conditions
- feedback controller
- three dimensional