Vision based navigation in a dynamic environment

Marcus Futterlieb 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : This thesis is directed towards the autonomous long range navigation of wheeled robots in dynamic environments. It takes place within the Aircobot project. This project aims at designing a collaborative robot (cobot) able to perform the preflight inspection of an aircraft. The considered environment is then highly structured (airport runway and hangars) and may be cluttered with both static and dynamic unknown obstacles (luggage or refueling trucks, pedestrians, etc.). Our navigation framework relies on previous works and is based on the switching between different control laws (go to goal controller, visual servoing, obstacle avoidance) depending on the context. Our contribution is twofold. First of all, we have designed a visual servoing controller able to make the robot move over a long distance thanks to a topological map and to the choice of suitable targets. In addition, multi-camera visual servoing control laws have been built to benefit from the image data provided by the different cameras which are embedded on the Aircobot system. The second contribution is related to obstacle avoidance. A control law based on equiangular spirals has been designed to guarantee non collision. This control law, based on equiangular spirals, is fully sensor-based, and allows to avoid static and dynamic obstacles alike. It then provides a general solution to deal efficiently with the collision problem. Experimental results, performed both in LAAS and in Airbus hangars and runways, show the efficiency of the developed techniques.
Document type :
Automatic. Université Paul Sabatier - Toulouse III, 2017. English
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Submitted on : Thursday, October 26, 2017 - 10:03:20 AM
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Marcus Futterlieb. Vision based navigation in a dynamic environment. Automatic. Université Paul Sabatier - Toulouse III, 2017. English. 〈tel-01624233〉



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