Guaranteed computation of robot trajectories - Archive ouverte HAL Access content directly
Journal Articles Robotics and Autonomous Systems Year : 2017

Guaranteed computation of robot trajectories

Calcul garanti de trajectoires de robots

Abstract

This paper proposes a new method for guaranteed integration of state equations. Within this framework, the variables of interest are trajectories submitted to both arithmetic and differential equations. The approach consists in formalizing a problem thanks to a constraint network and then apply these constraints to sets of trajectories. The contribution of the paper is to provide a reliable framework to enclose the solutions of these differential equations. Its use is shown to be simple, more general and more competitive than existing approaches dealing with guaranteed integration, especially when applied to mobile robotics. The flexibility of the developed framework allows to deal with non-linear differential equations or even differential inclusions built from datasets, while considering observations of the states of interest. An illustration of this method is given over several examples with mobile robots.
Fichier principal
Vignette du fichier
tubint_paper.pdf (1.64 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01516228 , version 1 (29-04-2017)

Licence

Attribution - NonCommercial - NoDerivatives

Identifiers

Cite

Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M Veres. Guaranteed computation of robot trajectories. Robotics and Autonomous Systems, 2017, 93, pp.76 - 84. ⟨10.1016/j.robot.2017.03.020⟩. ⟨hal-01516228⟩
1051 View
241 Download

Altmetric

Share

Gmail Facebook X LinkedIn More