Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space.
Iori KumagaiMasaki MurookaMitsuharu MorisawaFumio KanehiroPublished in: IROS (2022)
Keyphrases
- configuration space
- graph search
- degrees of freedom
- path planning
- motion planning
- search algorithm
- optimization problems
- duplicate detection
- search problems
- heuristic search
- path finding
- tree search
- graph databases
- mathematical programming
- depth first search
- search strategy
- search methods
- linear programming
- dynamic programming