Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees.
Berend van den BergBruno BritoMohsen AlirezaeiJavier Alonso-MoraPublished in: IV (2021)
Keyphrases
- motion planning
- closed loop
- control law
- open loop
- degrees of freedom
- robot arm
- mobile robot
- control scheme
- control system
- path planning
- trajectory planning
- feedback control
- humanoid robot
- parameter identification
- inverse kinematics
- multi robot
- asymptotic stability
- pid controller
- robotic tasks
- robotic arm
- collision free
- adaptive control
- nonlinear systems
- feature space