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

A. Durand Petiteville, S. Hutchinson, V. Cadenat, M. Courdesses

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 sequencing formalism is used to guarantee the global control law smoothness. Finally, simulation results validate our approach.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages5677-5682
Number of pages6
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Durand Petiteville, A., Hutchinson, S., Cadenat, V., & Courdesses, M. (2011). 2D visual servoing for a long range navigation in a cluttered environment. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 5677-5682). [6160461] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160461