Ti ji, a Generic Trajectory Generation Tool for Motion Planning and Control

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.