Abstract:
This paper presents a new hybrid control approach for vision-based navigation applied to autonomous robotic automobiles in urban environments. It is composed by a visual ...Show MoreMetadata
Abstract:
This paper presents a new hybrid control approach for vision-based navigation applied to autonomous robotic automobiles in urban environments. It is composed by a visual servoing (VS) for road lane following (as deliberative control) and a dynamic window approach (DWA) for obstacle avoidance (as reactive control). Typically, VS applications do not change the velocities to stop the robot in dangerous situations or avoid obstacles while performing the navigation task. However, in several urban conditions, these are elements that must be dealt with to guarantee the safe movement of the car. As a solution for this problem, in this paper, a line-following VS controller will be used to perform road lane following tasks with obstacle avoidance, validating its control outputs in a new image-based dynamic window approach (IDWA). The final solution combines the benefits of both controllers (VS+IDWA) for optimal lane following and fast obstacle avoidance, taking into account the car kinematics and some dynamics constraints. Experiments in a challenging scenario with both simulated and real experimental car show the viability of the proposed methodology.
Published in: IEEE Transactions on Intelligent Transportation Systems ( Volume: 17, Issue: 8, August 2016)
Funding Agency:
Heudiasyc UMR CNRS 7253, Universiy of Technology of Compiègne, Compiégne, France
Danilo Alves de Lima received the B.S. degree in control and automation
engineering and the M.S. degree in electrical engineering from Federal University of Minas Gerais, Belo Horizonte,
Brazil, in 2008 and 2010, respectively, and the Ph.D. degree in information and systems technologies from University of
Technology of Compiègne (UTC), Compiègne, France, in 2015. He is currently a Postdoctoral with Federal
Universit...Show More
Danilo Alves de Lima received the B.S. degree in control and automation
engineering and the M.S. degree in electrical engineering from Federal University of Minas Gerais, Belo Horizonte,
Brazil, in 2008 and 2010, respectively, and the Ph.D. degree in information and systems technologies from University of
Technology of Compiègne (UTC), Compiègne, France, in 2015. He is currently a Postdoctoral with Federal
Universit...View more
Heudiasyc UMR CNRS 7253, Universiy of Technology of Compiègne, Compiégne, France
Alessandro Corrêa Victorino received the B.S. degree in
mechanical engineering from Federal University of Espírito Santo (UFES) in 1996; the M.S. degree in mechanical
engineering from State University of Campinas (UNICAMP) in 1998; and the Ph.D. degree in robotics automation and
control from National Institute for Research in Computer Science and Control (INRIA) in 2002. He defended a
“Habilitation à Diriger des Rec...Show More
Alessandro Corrêa Victorino received the B.S. degree in
mechanical engineering from Federal University of Espírito Santo (UFES) in 1996; the M.S. degree in mechanical
engineering from State University of Campinas (UNICAMP) in 1998; and the Ph.D. degree in robotics automation and
control from National Institute for Research in Computer Science and Control (INRIA) in 2002. He defended a
“Habilitation à Diriger des Rec...View more
Contents Heudiasyc UMR CNRS 7253, Universiy of Technology of Compiègne, Compiégne, France
Danilo Alves de Lima received the B.S. degree in control and automation
engineering and the M.S. degree in electrical engineering from Federal University of Minas Gerais, Belo Horizonte,
Brazil, in 2008 and 2010, respectively, and the Ph.D. degree in information and systems technologies from University of
Technology of Compiègne (UTC), Compiègne, France, in 2015. He is currently a Postdoctoral with Federal
University of Lavras, Lavras, Brazil. Since 2015, He has been a member of the Terrestrial Mobility Laboratory (LMT),
UFLA. He also worked with the Group for Research and Development of Autonomous Vehicles (PDVA), UFMG, and Heudiasyc UMR
7253, a common research laboratory between UTC and CNRS. His research interests include robotic navigation, development
of intelligent vehicles, and computer vision.
Danilo Alves de Lima received the B.S. degree in control and automation
engineering and the M.S. degree in electrical engineering from Federal University of Minas Gerais, Belo Horizonte,
Brazil, in 2008 and 2010, respectively, and the Ph.D. degree in information and systems technologies from University of
Technology of Compiègne (UTC), Compiègne, France, in 2015. He is currently a Postdoctoral with Federal
University of Lavras, Lavras, Brazil. Since 2015, He has been a member of the Terrestrial Mobility Laboratory (LMT),
UFLA. He also worked with the Group for Research and Development of Autonomous Vehicles (PDVA), UFMG, and Heudiasyc UMR
7253, a common research laboratory between UTC and CNRS. His research interests include robotic navigation, development
of intelligent vehicles, and computer vision.View more
Heudiasyc UMR CNRS 7253, Universiy of Technology of Compiègne, Compiégne, France
Alessandro Corrêa Victorino received the B.S. degree in
mechanical engineering from Federal University of Espírito Santo (UFES) in 1996; the M.S. degree in mechanical
engineering from State University of Campinas (UNICAMP) in 1998; and the Ph.D. degree in robotics automation and
control from National Institute for Research in Computer Science and Control (INRIA) in 2002. He defended a
“Habilitation à Diriger des Recherches” (HDR) at University of Technology of Compiène
(UTC), Compiègne, France, in 2012. Since 2006, he has been an Associate Professor with the Department of
Computer Engineering, UTC and a member of the Heudiasyc laboratory UMR CNRS 7253. His research interests include
robotic and mechatronic systems, more precisely in the area of intelligent and robotic vehicles, the development of
autonomous navigation and driver assistance systems, integrating advanced control techniques, fusion of sensor data,
observers of dynamic states, and exteroceptive perception of the environment.
Alessandro Corrêa Victorino received the B.S. degree in
mechanical engineering from Federal University of Espírito Santo (UFES) in 1996; the M.S. degree in mechanical
engineering from State University of Campinas (UNICAMP) in 1998; and the Ph.D. degree in robotics automation and
control from National Institute for Research in Computer Science and Control (INRIA) in 2002. He defended a
“Habilitation à Diriger des Recherches” (HDR) at University of Technology of Compiène
(UTC), Compiègne, France, in 2012. Since 2006, he has been an Associate Professor with the Department of
Computer Engineering, UTC and a member of the Heudiasyc laboratory UMR CNRS 7253. His research interests include
robotic and mechatronic systems, more precisely in the area of intelligent and robotic vehicles, the development of
autonomous navigation and driver assistance systems, integrating advanced control techniques, fusion of sensor data,
observers of dynamic states, and exteroceptive perception of the environment.View more
