Sensor-based Obstacles Avoidance Using Spiral Controllers for an Aircraft Maintenance Inspection Robot

Dimitri Leca 1 Viviane Cadenat 1 Thierry Sentenac 2 Adrien Durand-Petiteville 3 Frédéric Gouaisbaut 4 Emile Le Flecher 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 ICA - Institut Clément Ader
3 UC Davis - University of California [Davis]
4 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper deals with the problem of obstacle avoidance during an automated preflight inspection. During this mission, safety appears to be a key issue, as numerous obstacles are lying in a close neighborhood of the aircraft. They are very different in terms of size, shape and mobility and are often unforeseen. To cope with this highly evolutive environment, it is necessary to design a method sufficiently generic to deal with the obstacles variety and efficient enough to guarantee non collision and avoid classical problems such as local minima, singularities, etc. In this paper, we have proposed a new sensor-based control strategy fulfilling these two requirements. It consists in defining and following an adaptative spiral around the encountered obstacles while performing preflight inspection. It relies on two main elements: (i) the definition of a spiral whose parameters are continuously updated depending on the robot motion and on the environment; (ii) the coupling of two sensor-based controllers allowing to track the spiral while avoiding singularities. Experimental results conducted on our robot show the relevance and the efficiency of the proposed control strategy.
Document type :
Conference papers
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https://hal-mines-albi.archives-ouvertes.fr/hal-02268746
Contributor : Imt Mines Albi Ecole Nationale Supérieure Des Mines d'Albi-Carmaux <>
Submitted on : Wednesday, August 21, 2019 - 2:44:06 PM
Last modification on : Wednesday, January 22, 2020 - 4:12:00 PM

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MINES-ALBI | ICA-ALBI | ICA | UNIV-TLSE3 | INSA-TOULOUSE | LAAS-RAP | CNRS | LAAS-MAC | LAAS-ROBOTIQUE | LAAS-DECISION-ET-OPTIMISATION | INSA-GROUPE | LAAS | UT1-CAPITOLE | UNIV-TLSE2

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Dimitri Leca, Viviane Cadenat, Thierry Sentenac, Adrien Durand-Petiteville, Frédéric Gouaisbaut, et al.. Sensor-based Obstacles Avoidance Using Spiral Controllers for an Aircraft Maintenance Inspection Robot. ECC 2019 - 18th European Control Conference, Jun 2019, Naples, Italy. p.2083-2089, ⟨10.23919/ECC.2019.8795882⟩. ⟨hal-02268746⟩

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