An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom.
Tobias SchoelsLuigi PalmieriKai Oliver ArrasMoritz DiehlPublished in: CoRR (2019)
Keyphrases
- motion planning
- collision free
- path planning
- degrees of freedom
- robot arm
- mobile robot
- trajectory planning
- collision avoidance
- humanoid robot
- robotic arm
- autonomous mobile robot
- robotic tasks
- mechanical systems
- multi robot
- control law
- configuration space
- inverse kinematics
- obstacle avoidance
- real time
- multi modal
- receding horizon
- climbing robot
- robot manipulators
- computer vision