A Redundancy-Based Approach for Visual Navigation with Collision Avoidance - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

A Redundancy-Based Approach for Visual Navigation with Collision Avoidance

Résumé

We propose an autonomous vehicle guidance framework which combines visual navigation with simultaneous obstacle avoidance. The method was originally designed prviously, but real outdoor experiments and major improvements have been added in this paper. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently. The two tasks are realized both in an obstacle-free and in a dangerous context, and the control law is smoothened in between. The experiments show that with our method, the vehicle can replay a taught visual path while avoiding collisions.

Mots clés

Fichier principal
Vignette du fichier
2011_civts_cherubini.pdf (2.04 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00639658 , version 1 (09-11-2011)

Identifiants

  • HAL Id : hal-00639658 , version 1

Citer

Andrea Cherubini, F. Spindler, F. Chaumette. A Redundancy-Based Approach for Visual Navigation with Collision Avoidance. IEEE Symp. on Computational Intelligence in Vehicles and Transportation Systems, CIVTS'11, 2011, Paris, France. ⟨hal-00639658⟩
300 Consultations
113 Téléchargements

Partager

Gmail Facebook X LinkedIn More