DMP Based Trajectory Tracking for a Nonholonomic Mobile Robot with Automatic Goal Adaptation and Obstacle Avoidance
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)（2019）
关键词
Dynamic Movement Primitive,motion planning,robot manipulator,nonholonomic mobile robot,Radial Basis Function Networks,robot goal position,Lyapunov stability theory-based analysis,dynamic obstacles,automatic goal adaptation,RBFN,DMP,gradient descent,static obstacles,trajectory tracking,damped spring model,steering angle dynamics,fuzzy logic
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