Efficient LQR-CBF-RRT*: Safe and Optimal Motion Planning.
Guang YangMingyu CaiAhmad AhmadCalin BeltaRoberto TronPublished in: CoRR (2023)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- humanoid robot
- optimal control
- robot arm
- mobile robot
- autonomous mobile robot
- multi robot
- obstacle avoidance
- belief space
- collision free
- computer vision
- robotic arm
- mechanical systems
- inverse kinematics
- configuration space
- multi modal
- object detection
- dynamic programming