Motion Planning for HyTAQs: A Topology-guided Unified NMPC Approach.
Tong WuYimin ZhuLixian ZhangJianan YangYihang DingPublished in: IROS (2022)
Keyphrases
- motion planning
- degrees of freedom
- configuration space
- mobile robot
- receding horizon
- path planning
- trajectory planning
- robot arm
- humanoid robot
- multi robot
- robotic tasks
- robotic arm
- autonomous mobile robot
- obstacle avoidance
- inverse kinematics
- mechanical systems
- control law
- nonlinear model predictive control
- climbing robot
- manipulation tasks
- clustering scheme
- computationally efficient
- optimal linear
- markov chain
- optical flow
- image based visual servoing
- dynamic model