Motion Planning and Obstacle Avoidance for Robot Manipulators Using Model Predictive Control-based Reinforcement Learning.
Adel BaselizadehWeria KhaksarJim TorresenPublished in: SMC (2022)
Keyphrases
- model predictive control
- obstacle avoidance
- robot manipulators
- motion planning
- trajectory planning
- control scheme
- reinforcement learning
- predictive control
- control system
- mobile robot
- path planning
- inverse kinematics
- control law
- degrees of freedom
- pid controller
- closed loop
- robot arm
- dynamic model
- end effector
- control strategy
- learning algorithm
- state space
- humanoid robot
- control strategies
- real robot
- machine learning
- image sequences
- potential field
- optimal control
- experimental data
- robot control
- dynamic environments
- vision system
- decision making
- computer vision