Energy-Optimal Collision-Free Motion Planning for Multiaxis Motion Systems: An Alternating Quadratic Programming Approach.
Yiming ZhaoYebin WangMengChu ZhouJing WuPublished in: IEEE Trans Autom. Sci. Eng. (2019)
Keyphrases
- motion planning
- collision free
- quadratic programming
- path planning
- degrees of freedom
- mobile robot
- humanoid robot
- mechanical systems
- robot arm
- robotic tasks
- inverse kinematics
- robotic arm
- potential field
- collision avoidance
- control law
- multi robot
- dynamic environments
- linear programming
- configuration space
- optimal path
- closed form
- visual servoing
- feature selection
- training set
- object recognition