Motion planning of unicycle-like robot using single RRT with branch and bound algorithm.
Rui-Jun YanJing WuJi Yeong LeePublished in: URAI (2013)
Keyphrases
- motion planning
- branch and bound algorithm
- mobile robot
- humanoid robot
- lower bound
- trajectory planning
- robot arm
- path planning
- multi robot
- degrees of freedom
- branch and bound
- autonomous mobile robot
- robotic tasks
- robotic arm
- upper bound
- obstacle avoidance
- np hard
- optimal solution
- precedence constraints
- inverse kinematics
- manipulation tasks
- combinatorial optimization
- configuration space
- climbing robot
- mechanical systems
- lower bounding
- collision free
- single machine scheduling problem
- mixed integer linear programming
- randomly generated problems
- potential field
- end effector
- upper bounding
- dynamic environments
- kinematic model
- scheduling problem
- viewpoint
- vision system