Accurate Pseudospectral Optimization of Nonlinear Model Predictive Control for High-Performance Motion Planning.
Feng GaoYu HanShengbo Eben LiShaobing XuDongfang DangPublished in: IEEE Trans. Intell. Veh. (2023)
Keyphrases
- motion planning
- degrees of freedom
- robot arm
- trajectory planning
- path planning
- mobile robot
- robotic arm
- multi robot
- robotic tasks
- humanoid robot
- obstacle avoidance
- mechanical systems
- inverse kinematics
- computationally efficient
- configuration space
- manipulation tasks
- autonomous mobile robot
- real time
- control law
- pose estimation
- d objects