Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups.
Christoph RösmannArtemi MakarowTorsten BertramPublished in: ECC (2021)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- trajectory planning
- robot arm
- humanoid robot
- robotic arm
- multi robot
- inverse kinematics
- obstacle avoidance
- real time
- configuration space
- autonomous mobile robot
- control law
- manipulation tasks
- mechanical systems
- collision avoidance
- climbing robot
- collision free
- vision system
- face recognition