Tiji, a Generic Trajectory Generation Tool for Motion Planning and Control

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 : Trajectory generation consists in computing a feasible trajectory between a start and a goal state-time, for a given robotic system. We presented in our previous works a trajectory generator called Tiji, geared towards complex dynamic systems subject to differential constraints. Moreover, it is able to handle a final time constraint, ie. an interval of time during which the goal state must be reached, and to provide an admissible trajectory that ends close to the goal state-time if no solution exists to connect both states. This paper is a natural extension of these works, and presents several applications of our trajectory generator. Arbitrary robotic systems may be handled. Furthermore, the control-oriented nature of Tiji and its ability to handle a final time constraint makes it a useful tool to embed into various reactive approaches (trajectory tracking, obstacle avoidance). Simulation and experimental results illustrate the different systems and navigation approaches in which Tiji has been embedded.
Type de document :
Communication dans un congrès
IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2010, Tapei, Taiwan. 2010
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https://hal.inria.fr/inria-00526671
Contributeur : Vivien Delsart <>
Soumis le : vendredi 15 octobre 2010 - 14:17:36
Dernière modification le : vendredi 12 octobre 2018 - 01:18:07
Document(s) archivé(s) le : dimanche 16 janvier 2011 - 02:51:15

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Vivien Delsart, Thierry Fraichard. Tiji, a Generic Trajectory Generation Tool for Motion Planning and Control. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2010, Tapei, Taiwan. 2010. 〈inria-00526671〉

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