Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC.
Bryce DoerrRichard LinaresPublished in: CoRR (2020)
Keyphrases
- motion planning
- linear quadratic
- robotic tasks
- optimal control
- robotic arm
- mechanical systems
- closed loop
- degrees of freedom
- trajectory planning
- mobile robot
- vector valued
- path planning
- robot arm
- humanoid robot
- dynamical systems
- autonomous mobile robot
- mpc algorithm
- inverse kinematics
- control system
- feedback control
- gaussian model
- robotic systems
- configuration space
- kinematic model
- control law
- dynamic programming
- obstacle avoidance
- adaptive control
- multi robot
- model predictive control
- control strategy
- manipulation tasks
- viewpoint
- predictive control
- pose estimation
- potential field
- motion control
- climbing robot