Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC.
Ara JoWoojin KwonKyongsu YiPublished in: IEEE Access (2024)
Keyphrases
- motion planning
- mobile robot
- degrees of freedom
- trajectory planning
- path planning
- humanoid robot
- robotic tasks
- robot arm
- multi robot
- autonomous navigation
- robotic arm
- inverse kinematics
- belief space
- obstacle avoidance
- autonomous mobile robot
- dynamic model
- configuration space
- closed loop
- dynamic environments
- collision free
- collision avoidance
- control law
- multi modal
- mechanical systems
- facial expressions