Motion Planning of Autonomous Personal Transporter using Model Predictive Control for Minimizing Non-minimum Phase Behavior.
Dongil ChoiMinsu KimHyeongkeun KimJonghun ChoeMoses C. NahPublished in: UR (2018)
Keyphrases
- motion planning
- model predictive control
- degrees of freedom
- mobile robot
- robot arm
- trajectory planning
- path planning
- control system
- predictive control
- humanoid robot
- robotic tasks
- multi robot
- autonomous mobile robot
- control law
- mechanical systems
- real time
- manipulation tasks
- robotic arm
- obstacle avoidance
- configuration space
- robotic systems
- collision free
- inverse kinematics
- autonomous robots
- decision support system
- video sequences