A Differentiable Signed Distance Representation for Continuous Collision Avoidance in Optimization-Based Motion Planning.
James GuthriePublished in: CDC (2022)
Keyphrases
- collision avoidance
- motion planning
- path planning
- mobile robot
- collision free
- configuration space
- potential field
- multi robot
- degrees of freedom
- signed distance
- trajectory planning
- dynamic environments
- obstacle avoidance
- neural network
- fuzzy neural network
- optimal path
- humanoid robot
- robotic systems
- objective function
- machine learning