Motion Planning for a Robotic Wheelchair with SLERP MPC Local Planner.
Daifeng WangWenjing CaoBo ZhangMasakazu MukaiPublished in: SICE (2023)
Keyphrases
- motion planning
- robotic tasks
- robotic arm
- mobile robot
- manipulation tasks
- degrees of freedom
- path planning
- robot arm
- trajectory planning
- robotic systems
- humanoid robot
- multi robot
- dynamic model
- obstacle avoidance
- closed loop
- heuristic search
- autonomous mobile robot
- domain independent
- inverse kinematics
- semi autonomous
- mechanical systems
- control system
- control law
- ai planning
- collision free
- configuration space
- real time
- belief space
- initial state
- robot control
- brain computer interface
- feature points
- mpc algorithm