Minimal Injury Risk Motion Planning Using Active Mitigation and Sampling Model Predictive Control.
Luiz Alberto Serafim GuardiniAnne SpalanzaniPhilippe MartinetChristian LaugierThomas GenevoisAnh-Lam DoPublished in: ITSC (2022)
Keyphrases
- motion planning
- model predictive control
- risk management
- predictive control
- degrees of freedom
- control system
- mobile robot
- control law
- trajectory planning
- robot arm
- path planning
- humanoid robot
- autonomous mobile robot
- robotic tasks
- robotic arm
- inverse kinematics
- mechanical systems
- decision support system
- control scheme
- obstacle avoidance
- spatio temporal
- configuration space
- collision free
- expert systems
- feature space
- decision trees
- neural network