Feedback motion planning approach for nonlinear control using gain scheduled RRTs.
Guilherme Jorge MaedaSurya P. N. SinghHugh F. Durrant-WhytePublished in: IROS (2010)
Keyphrases
- motion planning
- robotic arm
- mechanical systems
- degrees of freedom
- path planning
- trajectory planning
- robot arm
- mobile robot
- humanoid robot
- multi robot
- control system
- autonomous mobile robot
- kinematic model
- inverse kinematics
- visual feedback
- manipulation tasks
- end effector
- robotic tasks
- robot control
- obstacle avoidance
- visual servoing
- highly nonlinear
- pose estimation
- scheduling problem
- object recognition
- control law
- control method
- control strategy