Multirepresentation, Multiheuristic A* search-based motion planning for a free-floating underwater vehicle-manipulator system in unknown environment.
Dina YouakimPatryk CieslakAndrew DornbushAlbert PalomerPere RidaoMaxim LikhachevPublished in: J. Field Robotics (2020)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- autonomous mobile robot
- robotic arm
- inverse kinematics
- underwater vehicles
- trajectory planning
- dynamic environments
- robot arm
- end effector
- humanoid robot
- multi robot
- real time
- obstacle avoidance
- artificial intelligence
- configuration space
- belief space
- control system
- computer simulation
- three dimensional
- robot manipulators
- vision system
- manipulation tasks
- mechanical systems
- robotic tasks