Obstacle Avoidance for Manipulator with Arbitrary Arm Shape Using Signed Distance Function.
Shan XuGaofeng LiJingtai LiuPublished in: ROBIO (2018)
Keyphrases
- obstacle avoidance
- path planning
- mobile robot
- signed distance function
- level set
- motion planning
- shape prior
- shape model
- degrees of freedom
- visually guided
- distance function
- energy functional
- level set method
- active contours
- dynamic environments
- shape analysis
- multi robot
- shape representation
- curve evolution
- robot manipulators
- prior information
- shape descriptors
- global optimization
- object boundaries
- control method
- distance measure