Tiji, a Generic Trajectory Generation Tool for Motion Planning and Control - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2010

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

Résumé

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.
Fichier principal
Vignette du fichier
IROS10_0994_FI.pdf (1.37 Mo) Télécharger le fichier
poster_IROS2010.pdf (1.7 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Format : Autre

Dates et versions

inria-00526671 , version 1 (15-10-2010)

Identifiants

  • HAL Id : inria-00526671 , version 1

Citer

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⟩
186 Consultations
438 Téléchargements

Partager

Gmail Facebook X LinkedIn More