Control Barrier Functions (CBF) are a powerful tool for designing safety-critical controllers and motion planners. The safety requirements are encoded as a... A Perez,R Platt,G Konidaris,... 被引量: 0发表: 2015年 Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential ...
LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot robotroboticsnonlinearmotion-planningrrtrrt-startrajectory-generationnonlinear-optimizationlqrunderactuatedroboticssimple-pendulumlqr-controllernonlinear-controllqgrandom-treerandom-trajectory-generator ...