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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.
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Contributor : Thierry Fraichard <>
Submitted on : Friday, July 4, 2008 - 5:30:58 PM
Last modification on : Thursday, November 19, 2020 - 1:00:24 PM
Long-term archiving on: : Friday, May 28, 2010 - 9:30:28 PM


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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. ⟨inria-00293505⟩



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