Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario.
Marco MinelliAlessio SozziGiacomo De RossiFederica FerragutiFrancesco SettiRiccardo MuradoreMarcello BonfèCristian SecchiPublished in: IROS (2020)
Keyphrases
- motion planning
- model predictive control
- path planning
- degrees of freedom
- collision free
- robot arm
- mobile robot
- trajectory planning
- humanoid robot
- predictive control
- dynamic environments
- robotic arm
- control law
- robotic tasks
- configuration space
- autonomous mobile robot
- mechanical systems
- obstacle avoidance
- multi robot
- control system
- neural network
- climbing robot
- manipulation tasks
- fuzzy logic
- spatio temporal