Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control.
Dongjae LeeInkyu JangJeonghyun ByunHoseong SeoH. Jin KimPublished in: IROS (2021)
Keyphrases
- motion planning
- trajectory planning
- model predictive control
- control system
- real time
- collision free
- configuration space
- degrees of freedom
- path planning
- autonomous mobile robot
- mobile robot
- robot arm
- predictive control
- climbing robot
- control law
- humanoid robot
- multi robot
- kinematic model
- obstacle avoidance
- robotic tasks
- mechanical systems
- control scheme
- inverse kinematics
- control method
- machine learning
- situational awareness
- fault diagnosis
- optimization algorithm
- fuzzy logic
- neural network
- robot manipulators
- control strategy
- dynamic environments
- vision system
- spatio temporal
- computer vision