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High-DOF Robots in Dynamic Environments Using Incremental Trajectory Optimization
2014
International Journal of Humanoid Robotics
We present a novel optimization-based motion planning algorithm for high degree-offreedom (DOF) robots in dynamic environments. Our approach decomposes the highdimensional motion planning problem into a sequence of low-dimensional sub-problems. We compute collision-free and smooth paths using optimization-based planning and trajectory perturbation for each sub-problem. The overall algorithm does not require a priori knowledge about global motion or trajectories of dynamic obstacles. Rather, we
doi:10.1142/s0219843614410011
fatcat:fi2jtbnnljeojfhdqbbokhl2xi