Trajectory planning for manipulators based on the optimal concatenation of LQ control primitives.
Michael SteineggerBenjamin PassenbergMarion LeiboldMartin BussPublished in: CDC/ECC (2011)
Keyphrases
- trajectory planning
- optimal control
- motion planning
- robot manipulators
- path planning
- obstacle avoidance
- adaptive control
- optimal path
- mobile robot
- control strategy
- damage assessment
- control law
- robotic systems
- degrees of freedom
- control system
- dynamic environments
- control method
- fuzzy logic
- situational awareness
- evolutionary algorithm
- neural network