inria-00527913, version 1
Documentation of ISeeML (Introducing a Smooth, Efficient and Easy-to-use Motion Library)
N° RT-0396 (2010)
Résumé : This technical report introduces ISeeML, a C++ library to compute efficient (near to the optimal) motions for mobile robots respecting strong non-holonomic constraints. It contains a short presentation of the library as well as a detailed documentation of the classes offered by this library. This first published version of the library only handles forward-only path generation for car-like robots, but future versions will propose other types of motions, considering manoeuvres, obstacle avoidance and other kind of robots.
- a – Université Henri Poincaré - Nancy I
- 1 : MAIA (INRIA Lorraine - LORIA)
- INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)
- Domaine : Informatique/Robotique
Informatique/Géométrie algorithmique - Mots-clés : Mobile robotics – non-holonomic motion – continuous-curvature path – clothoids – steering method
- Référence interne : RT-0396
- inria-00527913, version 1
- http://hal.inria.fr/inria-00527913
- oai:hal.inria.fr:inria-00527913
- Contributeur : Alexis Scheuer
- Soumis le : Mercredi 20 Octobre 2010, 15:45:30
- Dernière modification le : Vendredi 22 Octobre 2010, 11:32:52
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