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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.
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Contributor : Vivien Delsart Connect in order to contact the contributor
Submitted on : Friday, October 15, 2010 - 2:17:36 PM
Last modification on : Tuesday, August 2, 2022 - 4:24:17 AM
Long-term archiving on: : Sunday, January 16, 2011 - 2:51:15 AM


  • HAL Id : inria-00526671, version 1


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. ⟨inria-00526671⟩



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