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Task Sequencing for High Level Sensor-Based Control (2009)
| Citations: | 22 - 2 self |
BibTeX
@MISC{Mansard09tasksequencing,
author = {Nicolas Mansard and François Chaumette},
title = {Task Sequencing for High Level Sensor-Based Control},
year = {2009}
}
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Abstract
Abstract — Classical sensor-based approaches tend to constrain all the degrees of freedom of a robot during the execution of a task. In this article a new solution is proposed. The key idea is to divide the global full-constraining task into several subtasks that can be applied or inactivated to take into account potential constraints of the environment. Far from any constraint, the robot moves according to the full task. When it comes closer to a configuration to avoid, a higher level controller removes one or several subtasks, and activates them again when the constraint is avoided. The last controller ensures the convergence at the global level by introducing some look-ahead capabilities when a local minimum is reached. The robot accomplishes the global task by automatically sequencing sensor-based tasks, obstacle avoidance and short deliberative phases. In this article, a complete solution to implement this idea is proposed, along with several experiments that prove the validity of this approach. Index Terms — Sensor-based control, tasks sequencing, redundancy, avoidance, planning, visual servoing
Keyphrases
high level sensor-based control several subtasks several experiment abstract classical sensor-based approach sensor-based task new solution visual servoing index term sensor-based control local minimum global full-constraining task look-ahead capability obstacle avoidance key idea last controller account potential constraint complete solution global task full task global level level controller short deliberative phase
