LQR-RRT*: Optimal sampling-based motion planning with automatically derived extension heuristics.
Alejandro PerezRobert Platt Jr.George Dimitri KonidarisLeslie Pack KaelblingTomás Lozano-PérezPublished in: ICRA (2012)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- humanoid robot
- collision free
- robot arm
- optimal control
- mechanical systems
- multi robot
- belief space
- obstacle avoidance
- robotic tasks
- robotic arm
- autonomous mobile robot
- configuration space
- inverse kinematics
- optimal solution
- optimal path
- manipulation tasks
- control law
- potential field
- dynamic environments
- kinematic model
- dynamic programming