Stand-alone obstacle avoidance controller for image-based navigation - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Stand-alone obstacle avoidance controller for image-based navigation

Résumé

In this paper we present a stand-alone reactive avoidance controller inspired by the spirals described by insects during their flights. Unlike state-of-the-art obstacle avoidance methods, it only focuses on circumventing hazardous elements and can be coupled to navigation controllers working in different state space, such as the image one. We describe the obstacle avoidance problem by following a set of spirals, the spiral parameters computation to deal with convex/concave obstacles, and the spiral following controller design. Finally, a set of simulations obtained with ROS/Gazebo show the efficiency of the proposed approach to navigate in a cluttered environment.
Fichier principal
Vignette du fichier
VersionFinale_LARS2022.pdf (1.06 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03807426 , version 1 (09-10-2022)

Identifiants

Citer

Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac. Stand-alone obstacle avoidance controller for image-based navigation. IEEE LARS 2022 / SBR 2022 -19th IEEE Latin American Robotics Symposium / 14th Brazilian Symposium on Robotics, Oct 2022, São Paulo, Brazil. p. 133-138, ⟨10.1109/LARS/SBR/WRE56824.2022.9995933⟩. ⟨hal-03807426⟩
94 Consultations
74 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More