Real-Time Perception-Limited Motion Planning Using Sampling-Based MPC.
Hanchen LuQun ZongShupeng LaiBailing TianLihua XiePublished in: IEEE Trans. Ind. Electron. (2022)
Keyphrases
- motion planning
- real time
- degrees of freedom
- mobile robot
- autonomous mobile robot
- path planning
- trajectory planning
- robot arm
- humanoid robot
- robotic tasks
- control law
- obstacle avoidance
- robotic arm
- belief space
- mechanical systems
- configuration space
- multi robot
- inverse kinematics
- collision free
- vision system
- control system
- closed loop
- manipulation tasks