Trajectory planning in a dynamic workspace: a `state-time space' approach - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Advanced Robotics Year : 1998

Trajectory planning in a dynamic workspace: a `state-time space' approach

Abstract

This paper presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems, it combines three functional components: a set of basic real-time skills, a reactive execution mechanism and a decision module. The main novelty of the architecture proposed lies in the introduction of a fourth component akin to a meta-level of skills: the sensor-based manoeuvres, ie general templates that encode high-level expert human knowledge and heuristics about how a specific motion task is to be performed. The concept of sensor-based manoeuvres permit to reduce the planning effort required to address a given motion task, thus improving the overall response-time of the system, while retaining the good properties of a skill-based architecture, ie robustness, flexibility and reactivity. The paper focuses on the trajectory planning function (which is an important part of the decision module) and two types of sensor-based manoeuvres, trajectory following and parallel parking, that have been implemented and successfully tested on a real automatic car-like vehicle placed in different situations.
Fichier principal
Vignette du fichier
99-fraichard-rsjar.pdf (288.25 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00259321 , version 1 (27-02-2008)

Identifiers

Cite

Thierry Fraichard. Trajectory planning in a dynamic workspace: a `state-time space' approach. Advanced Robotics, 1998, 13 (1), ⟨10.1163/156855399X00928⟩. ⟨inria-00259321⟩
118 View
450 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More