2D visual servoing for a long range navigation in a cluttered environment

Adrien Durand Petiteville , Seth Hutchinson (1) , Viviane Cadenat (2) , Michel Courdesses (2)

1 UIUC - University of Illinois at Urbana-Champaign [Urbana]
2 LAAS-RAP - Équipe Robotique, Action et Perception

In this paper, we consider the problem of realizing a vision-based long range navigation in a cluttered environment. To this aim, we couple a topological environment representation and a supervision algorithm. The latter organizes several elementary tasks which allow to perform image based visual servoing, obstacle avoidance and to estimate on line several required parameters. Well known and new methods based on the tasks function approach are introduced.The dynamical se-quencing formalism is used to guarantee the global control law smoothness. Finally, simulation results validate our approach.

Mots clés: Mobile robots control; mobile robots navigation; sensor-based control; vision based control

Domaines: Automatique / Robotique

Adrien Durand Petiteville, Seth Hutchinson, Viviane Cadenat, Michel Courdesses. 2D visual servoing for a long range navigation in a cluttered environment. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Dec 2011, Orlando, Florida, United States. pp.5677-5682. ⟨hal-02326273⟩