Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC.
Ainoor TeimoorzadehFrederico Fernandes Afonso SilvaLuis F. C. FigueredoSami HaddadinPublished in: CoRR (2024)
Keyphrases
- motion planning
- real time
- degrees of freedom
- configuration space
- path planning
- robot arm
- trajectory planning
- mobile robot
- humanoid robot
- autonomous mobile robot
- robotic arm
- multi robot
- obstacle avoidance
- collision free
- belief space
- mechanical systems
- three dimensional
- robotic tasks
- climbing robot
- inverse kinematics
- control law
- fourier transform
- vision system
- nearest neighbor searching
- dynamic model
- potential field
- object detection
- input image
- kinematic model
- control system