Kinematic navigation of a nonholonomic robot for 3D environmental extremum seeking without gradient estimation.
Alexey S. MatveevMichael HoyAndrey V. SavkinPublished in: CDC (2013)
Keyphrases
- gradient estimation
- mobile robot
- obstacle avoidance
- path planning
- motion planning
- trajectory planning
- indoor environments
- degrees of freedom
- inverse kinematics
- collision free
- autonomous navigation
- kinematic constraints
- trajectory tracking control
- configuration space
- collision avoidance
- rough terrain
- robot navigation
- end effector
- variance reduction
- service robots
- parallel robot
- autonomous robots
- sensory information
- dynamic environments
- multi robot
- robot arm
- humanoid robot
- robot manipulators
- visual servoing
- human robot interaction
- joint space
- kinematic model
- position and orientation
- control law
- vision system
- physical constraints
- robotic systems
- human body
- text categorization