Navigating Dynamic Environments Using Trajectory Deformation

Vivien Delsart 1 Thierry Fraichard 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. In an effort to improve path deformation, this paper presents a trajectory deformation scheme. The main idea is that by incorporating the time dimension and hence information on the obstacles' future behaviour, quite a number of situations where path deformation would fail can be handled. The trajectory represented as a space-time curve is subject to deformation forces both external (to avoid collision with the obstacles) and internal (to maintain trajectory feasibility and connectivity). The trajectory deformation scheme has been tested successfully on a planar robot with double integrator dynamics and a car-like vehicle.
Type de document :
Communication dans un congrès
IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2008, Nice, France. 2008
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Contributeur : Thierry Fraichard <>
Soumis le : vendredi 4 juillet 2008 - 17:30:58
Dernière modification le : samedi 15 décembre 2018 - 01:49:31
Document(s) archivé(s) le : vendredi 28 mai 2010 - 21:30:28


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  • HAL Id : inria-00293505, version 1



Vivien Delsart, Thierry Fraichard. Navigating Dynamic Environments Using Trajectory Deformation. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2008, Nice, France. 2008. 〈inria-00293505〉



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