Optimal motion planning of redundant planar serial robots using a synergy-based approach of convex optimization, disjunctive programming and receding horizon.
Roya Sabbagh NovinMehdi Tale MasoulehMojtaba YazdaniPublished in: J. Syst. Control. Eng. (2016)
Keyphrases
- convex optimization
- motion planning
- multi robot
- mobile robot
- collision free
- formation control
- receding horizon
- humanoid robot
- manipulation tasks
- path planning
- degrees of freedom
- optimal linear
- interior point methods
- quadratically constrained quadratic
- total variation
- multiple robots
- control law
- obstacle avoidance
- multi robot systems
- air traffic control
- dynamic programming
- collision avoidance
- image restoration
- image sequences
- multi modal