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Communication Dans Un Congrès Année : 2009

A generic framework for topological navigation of urban vehicle

Résumé

In this paper, we present a generic framework for urban vehicle navigation using a topological map. This map is built by taking into account the non-holonomic behaviour of the vehicle. After a localization step, a sensory route is extracted to reach a goal. This route is followed using a sensor-based control strategy, based on the vehicle model and computed from the state extracted from the current and the desired sensory images. In that aim, a generic model is proposed for visual sensors. Experiments with an urban electric vehicle navigating in an outdoor environment have been carried out with a fisheye camera using a single camera and natural landmarks. A navigation along a 1700-meter-long trajectory validates our approach.
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Dates et versions

hal-02468609 , version 1 (06-02-2020)

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  • HAL Id : hal-02468609 , version 1

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Jonathan Courbon, Youcef Mezouar, Laurent Eck, Philippe Martinet. A generic framework for topological navigation of urban vehicle. ICRA09 - Workshop on Safe navigation in open and dynamic environments Application to autonomous vehicles, May 2009, Kobe, Japan. ⟨hal-02468609⟩
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