TY  - BOOK
AB  - We propose a hybrid approach to motion planning for redundant robots, which combines a powerful control framework with a sampling-based planner. We argue that a suitably chosen task controller already manages a huge amount of trajectory planning work. However, due to its local approach to obstacle avoidance, it may get stuck in local minima. Therefore we augment it with a globally acting planner, which operates in a lower-dimensional search space, thus circumventing the curse of dimensionality afflicting modern, many-DoF robots.
DA  - 2012
LA  - eng
PY  - 2012
TI  - Hybrid Planning: Task-Space Control and Sampling-Based Planning
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-26783670
Y2  - 2024-11-22T01:00:46
ER  -