Optimal control for geometric motion planning of a robot diver.
Roberto ShuAvinash SiravuruAkshara RaiTony DearKoushil SreenathHowie ChosetPublished in: IROS (2016)
Keyphrases
- optimal control
- motion planning
- mobile robot
- humanoid robot
- trajectory planning
- robot arm
- path planning
- control problems
- robotic arm
- multi robot
- autonomous mobile robot
- degrees of freedom
- robotic tasks
- inverse kinematics
- dynamic programming
- collision free
- feedback control
- obstacle avoidance
- manipulation tasks
- control strategy
- control law
- reinforcement learning
- climbing robot
- configuration space
- infinite horizon
- end effector
- optimal control problems
- dynamic environments
- potential field
- linear quadratic
- autonomous robots
- robotic systems
- robot navigation
- average cost
- multi modal
- mechanical systems
- vision system
- nonlinear systems
- continuous stirred tank reactor