Progressive Smoothing for Motion Planning in Real-Time NMPC.
Rudolf ReiterKatrin BaumgärtnerRien QuirynenMoritz DiehlPublished in: ECC (2024)
Keyphrases
- motion planning
- real time
- degrees of freedom
- path planning
- mobile robot
- robot arm
- trajectory planning
- autonomous mobile robot
- humanoid robot
- robotic tasks
- multi robot
- robotic arm
- collision free
- climbing robot
- manipulation tasks
- inverse kinematics
- configuration space
- vision system
- obstacle avoidance
- mechanical systems
- control law