Motion planning based on uncertain robot states in dynamic environments : a receding horizon control approach
This thesis is concerned with trajectory generation for robots in dynamic environments with relatively narrow passages. In particular, this thesis aims at developing motion planning schemes using receding horizon control (RHC) and mixed-integer linear programming (MILP). The thesis is constructed of...
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| Language: | English |
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University of British Columbia
2014
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| Online Access: | http://hdl.handle.net/2429/50806 |