Safe Motion Planning Based on a New Encoding Technique for Tree Expansion Using Particle Swarm Optimization.
Sara BouraineOuahiba AzouaouiPublished in: Robotica (2021)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- humanoid robot
- robot arm
- obstacle avoidance
- autonomous mobile robot
- robotic tasks
- robotic arm
- tree structure
- multi robot
- tree structured vector quantization
- mechanical systems
- belief space
- manipulation tasks
- collision free
- inverse kinematics
- potential field
- index structure
- real time
- configuration space
- kinematic model