BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning.
Jay KamatJoaquim Ortiz de HaroMarc ToussaintFlorian T. PokornyAndreas OrtheyPublished in: CoRR (2022)
Keyphrases
- motion planning
- degrees of freedom
- path planning
- humanoid robot
- trajectory planning
- mobile robot
- robotic arm
- robot arm
- multi robot
- collision free
- robotic tasks
- autonomous mobile robot
- global convergence
- inverse kinematics
- optimal control
- obstacle avoidance
- dynamic programming
- manipulation tasks
- mechanical systems
- viewpoint
- configuration space
- potential field
- optimal solution
- evolutionary algorithm