An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance.
Tobias SchoelsLuigi PalmieriKai Oliver ArrasMoritz DiehlPublished in: ICRA (2020)
Keyphrases
- collision avoidance
- motion planning
- path planning
- mobile robot
- collision free
- trajectory planning
- dynamic environments
- potential field
- multi robot
- degrees of freedom
- obstacle avoidance
- path finding
- real time
- control law
- humanoid robot
- optimal path
- autonomous robots
- human body
- computationally efficient
- three dimensional