Informations

Type
article
Key
2012_advrob_cadenat
Authors
Cadenat, Viviane and Folio, David and Durand, Adrien
http://doi.org/10.1163/156855311X617470
http://www.tandfonline.com/doi/pdf/10.1163/156855311X617470
00678670
2012_advrob_cadenat.

Abstract

We address the problem of multi-sensor-based navigation in a cluttered environment for a non-holonomic robot. To perform such a successful and safe navigation, three controllers realizing, respectively, nominal vision-based navigation, obstacle bypassing and occlusion avoidance have been designed using the task function approach. Then it suffices to sequence them to realize the complete mission. To guarantee the control continuity when switching between two successive controllers, two sequencing approaches have been used and compared. Simulation results validate our work

Keyword

  • visual servoing
  • redundant task
  • obstacle avoidance
  • occlusion avoidance
  • task sequencing

BibTeX:

 @article{2012_advrob_cadenat,
  title = {A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment},
  author = {Cadenat, Viviane and Folio, David and Durand, Adrien},
  journal = {Advanced Robotics},
  year = {2012},
  month = mar,
  number = {5-6},
  pages = {487--514},
  volume = {26},
  doi = {10.1163/156855311X617470},
  eprint = {http://www.tandfonline.com/doi/pdf/10.1163/156855311X617470},
  hal = {00678670},
  keywords = {visual servoing, redundant task, obstacle avoidance, occlusion avoidance, task sequencing},
  publisher = {Taylor \& Francis}
}