Online motion planning based on swept volume search with replanning using sequential quadratic programming.
Takuya IwasakiYutaka TakaseSolvi ArnoldKeisuke TakeshitaKimitoshi YamazakiPublished in: Adv. Robotics (2023)
Keyphrases
- motion planning
- sequential quadratic programming
- degrees of freedom
- trajectory planning
- robot arm
- humanoid robot
- path planning
- search algorithm
- mobile robot
- robotic arm
- robotic tasks
- search space
- configuration space
- inverse kinematics
- autonomous mobile robot
- mechanical systems
- obstacle avoidance
- real time
- manipulation tasks
- potential field