Dynamic path planning and reactive scheduling for a robotic manipulator using nonlinear model predictive control.
Nigora GafurLeo WeberVassilios YfantisAchim WagnerMartin RuskwoskiPublished in: MED (2022)
Keyphrases
- path planning
- dynamic environments
- nonlinear model predictive control
- robotic manipulator
- mobile robot
- visual servoing
- image based visual servoing
- path planning algorithm
- collision free
- collision avoidance
- obstacle avoidance
- dynamic model
- degrees of freedom
- dynamic and uncertain environments
- multi robot
- motion planning
- optimal path
- configuration space
- robot path planning
- computationally efficient
- end effector
- multiple robots
- aerial vehicles
- three dimensional
- multi modal
- control system