An anticipative reactive control strategy to deal with unforeseen obstacles during a multi-sensor-based navigation task - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

An anticipative reactive control strategy to deal with unforeseen obstacles during a multi-sensor-based navigation task

Résumé

We address the problem of the rangefinder-based avoidance of unforeseen static obstacles during a visual navigation task. We extend previous strategies which are efficient in most cases but remain still hampered by some drawbacks (e.g., risks of collisions or of local minima in some particular cases, etc.). The key idea is to complete the control strategy by adding a controller providing the robot some anticipative skills to guarantee non collision and by defining more general transition conditions to deal with local minima. Simulation results show the proposed strategy efficiency.
Fichier principal
Vignette du fichier
ADurandVCadenat_ecc14_final.pdf (604.37 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01959464 , version 1 (18-12-2018)

Identifiants

  • HAL Id : hal-01959464 , version 1

Citer

Adrien Durand Petiteville, Viviane Cadenat. An anticipative reactive control strategy to deal with unforeseen obstacles during a multi-sensor-based navigation task. European Control Conference ( ECC ), Jun 2014, Strasbourg, France. ⟨hal-01959464⟩
20 Consultations
67 Téléchargements

Partager

Gmail Facebook X LinkedIn More