ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control.
Dries DirckxMathias BosBastiaan VandewalLander VanroyeWilm DecréJan SweversPublished in: CoRR (2024)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- mobile robot
- trajectory planning
- robot arm
- humanoid robot
- configuration space
- robotic tasks
- robotic arm
- autonomous mobile robot
- obstacle avoidance
- mechanical systems
- inverse kinematics
- control law
- collision free
- climbing robot
- machine learning
- viewpoint
- image based visual servoing
- optimal control
- closed loop
- experimental data
- nonlinear model predictive control