Paper Info
Title
Tiji, a generic trajectory generation tool for motion planning and control
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.
Year
DOI
Venue
2010
10.1109/IROS.2010.5648826
Intelligent Robots and Systems
Keywords
Field
DocType
collision avoidance,mobile robots,motion control,robot dynamics,Tiji,complex dynamic systems,final time constraint,generic trajectory generation tool,goal state-time,motion control,motion planning,obstacle avoidance,robotic system,start state-time,trajectory tracking,Differential constraints,Dynamic environments,Trajectory generation
Obstacle avoidance,Motion planning,Motion control,Control theory,Computer science,Complex dynamic systems,Robot kinematics,Control engineering,Time constraint,Trajectory,Mobile robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-6674-0
0
PageRank 
References 
Authors
0.34
13
2
Name
Order
Citations
PageRank
Vivien Delsart1212.41
Thierry Fraichard286670.04