A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions.
Akshay ThirugnanamJun ZengKoushil SreenathPublished in: CoRR (2021)
Keyphrases
- obstacle avoidance
- autonomous vehicles
- real time
- mobile robot
- path planning
- control system
- trajectory planning
- visually guided
- visual navigation
- robot control
- space exploration
- control method
- motion planning
- autonomous robots
- potential field
- robotic systems
- vision system
- dynamic environments
- mobile robot navigation
- linear programming
- artificial neural networks
- route selection
- fuzzy logic controller
- route planning
- outdoor environments
- genetic programming
- computer vision