Closed loop motion planning and control for mobile robots in uncertain environments.
Savvas G. LoizouHerbert G. TannerVijay KumarKostas J. KyriakopoulosPublished in: CDC (2003)
Keyphrases
- motion planning
- closed loop
- uncertain environments
- mobile robot
- multi robot
- control law
- open loop
- control system
- feedback control
- path planning
- robotic arm
- adaptive control
- visual servoing
- guaranteed cost
- feedback controller
- trajectory tracking
- inverted pendulum
- control loop
- robot arm
- autonomous systems
- reference trajectory
- obstacle avoidance
- degrees of freedom
- disturbance rejection
- autonomous navigation
- motion control
- robotic systems
- control scheme
- tracking error
- autonomous robots
- external disturbances
- nonlinear systems
- dynamic environments
- robot control
- pid controller
- position control
- control strategy
- autonomous mobile robot
- sliding mode
- control method
- humanoid robot
- end effector
- process control
- inverse kinematics
- configuration space
- collision avoidance
- robotic manipulator
- decision making
- real robot
- optimal control