Safe and efficient high dimensional motion planning in space-time with time parameterized prediction
In this work, we propose an algorithm that can plan safe and efficient robot trajectories in real time, given time-parameterized motion predictions, in order to avoid fast-moving obstacles in human-robot collaborative environments. Our algorithm is able to reduce the robot configuration space and th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE,
2020-06-19T20:08:39Z.
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| Subjects: | |
| Online Access: | Get fulltext |