Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints.
Yiting KangZhi YangRiya ZengQi WuPublished in: ICRA (2021)
Keyphrases
- motion planning
- asymptotically optimal
- mobile robot
- path planning
- asymptotic optimality
- degrees of freedom
- trajectory planning
- obstacle avoidance
- multi robot
- autonomous mobile robot
- robotic arm
- humanoid robot
- arrival rate
- robotic tasks
- dynamic environments
- motion control
- collision free
- autonomous robots
- robotic systems
- climbing robot
- configuration space
- optimal policy
- high dimensional
- collision avoidance
- human motion
- steady state
- potential field
- multi modal
- computer vision