Toward integrated motion planning and control using potential fields and torque-based steering actuation for autonomous driving.
Enric GalceranRyan M. EusticeEdwin OlsonPublished in: Intelligent Vehicles Symposium (2015)
Keyphrases
- motion planning
- degrees of freedom
- robotic arm
- mechanical systems
- autonomous driving
- joint space
- humanoid robot
- robot arm
- end effector
- control strategy
- control algorithm
- mobile robot
- configuration space
- position control
- trajectory planning
- path planning
- control system
- control method
- robotic tasks
- control law
- inverse kinematics
- multi robot
- autonomous vehicles
- pose estimation
- obstacle avoidance
- grand challenge
- control scheme
- computer vision
- visual servoing
- robot control
- machine learning
- dynamic programming
- urban traffic