Motion Planning for Nonlinear Robotic System based on ADMM and Convex Feasible Set Algorithm.

Ruishuang Chen Zaiyue Yang Jie Cheng Zhihui Liang

Published in: CDC (2022)

Keyphrases

motion planning
path planning
multi robot
robotic systems
objective function
convex hull
optimal solution
mobile robot
configuration space
np hard
piecewise linear
robotic tasks
feasible set
humanoid robot
convex optimization
ant colony optimization
expectation maximization
dynamic programming