A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment

Viviane Cadenat (1) , David Folio (2) , Adrien Durand-Petiteville (1)

1 LAAS-RAP - Équipe Robotique, Action et Perception
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

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.

Mots clés: Robotique; axe Robotique

Domaines: Automatique / Robotique

Viviane Cadenat, David Folio, Adrien Durand-Petiteville. A comparison of two sequencing techniques to perform a vision-based navigation task in a cluttered environment. Advanced Robotics, 2012, 26 (5-6), pp.487-514. ⟨10.1163/156855311X617470⟩. ⟨hal-00678670⟩