Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle.
Thaker NaylGeorge NikolakopoulosThomas GustafssonPublished in: Robotics Auton. Syst. (2015)
Keyphrases
- motion planning
- kinematic model
- degrees of freedom
- mechanical systems
- trajectory planning
- mobile robot
- robot arm
- path planning
- inverse kinematics
- humanoid robot
- robotic arm
- autonomous mobile robot
- configuration space
- obstacle avoidance
- control law
- multi robot
- state estimation
- dynamic model
- kinematic constraints
- robotic tasks
- machine learning
- climbing robot
- manipulation tasks
- collision free
- closed loop
- dynamic environments
- moving objects
- three dimensional