Section: New Software and Platforms

ISeeML

Introducing a Smooth, Efficient and Easy-to-use Motion Library

Keywords: Mobile Computing, Transportation - Optimal control - Planning

Scientific Description: The main interest of this library is to offer smooth (continuous-curvature) efficient (close to the optimal) motions for mobile robots. Obtained paths correspond to locally optimal motions with constant velocity for wheeled mobile robots, either car-like or with differential-wheels (e.g. Thymio or Turtlebot). Classical paths (with a discontinuous curvature profile) are also provided. Both paths can also be used for aerial robots, as the motion constraints of those are similar to those of wheeled mobile robots.

Release Functional Description: Additionnal functionnalities for optimal control using ROS.

News Of The Year: Additionnal functionnalities for optimal control using ROS.

• Participant: Alexis Scheuer

• Contact: Alexis Scheuer

• Publication: inria-00527913v1

• URL: http://iseeml.loria.fr