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A new control strategy based on feedback motion planning is presented for solving nonlinear control problems in constrained environments. The algorithm explores the state-space using a bi-directional rapidly exploring random tree (biRRT) in order to find a feasible trajectory between an initial and goal state. By incrementally scheduling LQR controllers, it attempts to connect states so as to link...
This paper presents a novel approach to on-line, robot-motion planning for multiple moving-objects interception with constant acceleration. The position, velocity and acceleration of the free particles TFL are used as a kinematic information to generate the multiple interception trajectory TFP. The polynomial interpolation technique is implemented in a 2 dof robot with an operational space control...
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