Simultaneous path planning and trajectory optimization for robotic manipulators using discrete mechanics and optimal control.
Zeeshan ShareefAnsgar TrächtlerPublished in: Robotica (2016)
Keyphrases
- path planning
- optimal control
- robotic manipulator
- optimal control problems
- trajectory planning
- degrees of freedom
- mobile robot
- collision free
- path planning algorithm
- configuration space
- control strategy
- dynamic environments
- obstacle avoidance
- motion planning
- dynamic programming
- collision avoidance
- multi robot
- reinforcement learning
- control scheme
- path finding
- optimal path
- dynamic and uncertain environments
- visual servoing
- multiple robots
- robotic systems
- optimization problems
- optimization algorithm
- neural network
- aerial vehicles