Optimal trajectory planning for robotic manipulators using Discrete Mechanics and Optimal Control.
Zeeshan ShareefAnsgar TrächtlerPublished in: CCA (2014)
Keyphrases
- optimal control
- trajectory planning
- robotic manipulator
- dynamic programming
- control strategy
- obstacle avoidance
- reinforcement learning
- motion planning
- dynamic environments
- robot manipulators
- mobile robot
- optimal control problems
- control law
- mathematical model
- neural network
- learning rate
- degrees of freedom
- linear quadratic