TY - GEN
T1 - 2D visual servoing for a long range navigation in a cluttered environment
AU - Durand Petiteville, A.
AU - Hutchinson, S.
AU - Cadenat, V.
AU - Courdesses, M.
N1 - Funding Information:
This work was carried out at High Field Laboratory, IMR, Tohoku University and partially supported by Grant-in-Aid for Scientific Research from the Ministry of Education, Science and Culture of Japan.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860697154&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2011.6160461
DO - 10.1109/CDC.2011.6160461
M3 - Conference contribution
AN - SCOPUS:84860697154
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5677
EP - 5682
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -