Hybrid curvature steer: A novel extend function for sampling-based nonholonomic motion planning in tight environments.
Holger BanzhafLuigi PalmieriDennis NienhüserThomas SchammSteffen KnoopJ. Marius ZöllnerPublished in: ITSC (2017)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- robotic tasks
- mobile robot
- trajectory planning
- humanoid robot
- robot arm
- mechanical systems
- autonomous mobile robot
- dynamic environments
- inverse kinematics
- robotic arm
- multi robot
- configuration space
- belief space
- obstacle avoidance
- upper bound
- lower bound
- collision avoidance
- control law
- robotic systems
- real time
- manipulation tasks
- autonomous robots
- three dimensional