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Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC.
Yunfan Gao
Florian Messerer
Jonathan Frey
Niels van Duijkeren
Moritz Diehl
Published in:
ECC (2023)
Keyphrases
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motion planning
mobile robot
collision free
path planning
degrees of freedom
robust optimization
humanoid robot
obstacle avoidance
autonomous mobile robot
dynamic environments
multi robot
potential field
robotic arm
control law
collision avoidance
path planner
autonomous robots
multi modal
genetic algorithm