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

Durand Petiteville, Adrien & Cadenat, Viviane (2014) An anticipative reactive control strategy to deal with unforeseen obstacles during a multi-sensor-based navigation task. In Niculescu, S. (Ed.) Proceedings of the 2014 European Control Conference (ECC), IEEE, Strasbourg, France, pp. 2816-2821.

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Abstract

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.

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ID Code: 88764
Item Type: Conference Paper
Refereed: Yes
DOI: 10.1109/ECC.2014.6862410
ISBN: 9783952426913
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 EUCA
Deposited On: 20 Oct 2015 02:55
Last Modified: 20 Oct 2015 02:55

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