Embedded vision-based localization and model predictive control for autonomous exploration

Hélène Roggeman (1) , Julien Marzat (1) , Martial Sanfourche (1) , Aurélien Plyer (1)

1 ONERA - The French Aerospace Lab [Palaiseau]

This paper presents a complete mobile robot architecture for autonomous exploration in a GPS-denied unknown environment. The platform considered is equipped with wheel encoders, stereo-vision and depth sensors, the measurements of which are fused within an extended Kalman filter for robust localization. An occupancy grid of the environment is built on-line for environment reconstruction and obstacle detection. Based on this map, a model predictive control scheme autonomously defines safe exploration trajectories, while taking into account interaction with the imaging sensors. Experimental results demonstrate the embedded computational capability of this vision-based control loop.

Mots clés: autonomous robot; exploration; model predictive control; robust estimation; visual odometry

Domaines: Automatique / Robotique

Hélène Roggeman, Julien Marzat, Martial Sanfourche, Aurélien Plyer. Embedded vision-based localization and model predictive control for autonomous exploration. IROS Workshop on Visual Control of Mobile Robots (ViCoMoR 2014), Sep 2014, Chicago, United States. pp.13-20. ⟨hal-01068024⟩