Real-Time Dynamic Obstacle Avoidance for Robot Manipulators Based on Cascaded Nonlinear MPC With Artificial Potential Field.
Tianqi ZhuJianliang MaoLinyan HanChuanlin ZhangJun YangPublished in: IEEE Trans. Ind. Electron. (2024)
Keyphrases
- potential field
- obstacle avoidance
- trajectory planning
- dynamic environments
- mobile robot
- robot manipulators
- path planning
- real time
- motion planning
- dynamic model
- biologically inspired
- multi robot
- control scheme
- unknown environments
- collision free
- control system
- neural network
- fuzzy logic controller
- optimal path
- vision system