RRT-based nonholonomic motion planning using any-angle path biasing.
Luigi PalmieriSven KoenigKai Oliver ArrasPublished in: ICRA (2016)
Keyphrases
- motion planning
- collision free
- degrees of freedom
- path planning
- configuration space
- mobile robot
- trajectory planning
- robot arm
- humanoid robot
- optimal path
- multi robot
- robotic tasks
- inverse kinematics
- robotic arm
- autonomous mobile robot
- control law
- obstacle avoidance
- mechanical systems
- belief space
- shortest path
- potential field
- manipulation tasks
- dynamic environments
- collision avoidance
- action selection
- end effector