Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control.
Dongjae LeeInkyu JangJeonghyun ByunHoseong SeoH. Jin KimPublished in: CoRR (2021)
Keyphrases
- motion planning
- trajectory planning
- model predictive control
- control system
- real time
- degrees of freedom
- autonomous mobile robot
- collision free
- path planning
- configuration space
- mobile robot
- robot arm
- humanoid robot
- obstacle avoidance
- climbing robot
- robotic arm
- predictive control
- robotic tasks
- optimization algorithm
- mechanical systems
- multi robot
- control law
- closed loop
- kinematic model
- vision system
- control method
- inverse kinematics
- genetic algorithm
- fuzzy logic
- dynamic environments
- robot manipulators
- image sequences
- ensemble methods
- control algorithm