A gradient-based approach to collision-free quasi-optimal trajectory planning of nonholonomic systems.

Makoto Iwamura Motoji Yamamoto Akira Mohri

Published in: IROS (2000)

Keyphrases

trajectory planning
motion planning
collision free
path planning
obstacle avoidance
mobile robot
dynamic environments
degrees of freedom
collision avoidance
optimal path
multi robot
humanoid robot
optimal solution