Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control.
Markus GiftthalerFarbod FarshidianTimothy SandyLukas StadelmannJonas BuchliPublished in: ICRA (2017)
Keyphrases
- optimal control
- motion planning
- degrees of freedom
- control law
- feedback control
- control problems
- dynamic programming
- control strategy
- class of nonlinear systems
- mobile robot
- infinite horizon
- adaptive control
- real time
- planning problems
- closed loop
- path planning
- machine learning
- physical constraints
- optimal control problems
- mobile devices
- neural network
- lyapunov function
- risk sensitive