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
* Corresponding author
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
2 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
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.
Mots-clés : Robotique axe Robotique
Document type :
Journal articles
Advanced Robotics, Taylor & Francis, 2012, 26 (5-6), pp.487-514. <10.1163/156855311X617470>


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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, Taylor & Francis, 2012, 26 (5-6), pp.487-514. <10.1163/156855311X617470>. <hal-00678670>

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