Vehicle Motion Planning With Joint Cartesian-Frenét MPC.
Xuetao XingBolin ZhaoChao HanDongchun RenHuaxia XiaPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- motion planning
- kinematic model
- degrees of freedom
- path planning
- trajectory planning
- robot arm
- mobile robot
- mechanical systems
- humanoid robot
- robotic tasks
- robotic arm
- multi robot
- inverse kinematics
- autonomous mobile robot
- real time
- closed loop
- control law
- dynamic model
- manipulation tasks
- joint angles
- belief space
- potential field