Skip to Main content Skip to Navigation
Conference papers

A generic framework for topological navigation of urban vehicle

Abstract : In this paper, we present a generic framework for urban vehicle navigation using a topological map. This map is built by taking into account the non-holonomic behaviour of the vehicle. After a localization step, a sensory route is extracted to reach a goal. This route is followed using a sensor-based control strategy, based on the vehicle model and computed from the state extracted from the current and the desired sensory images. In that aim, a generic model is proposed for visual sensors. Experiments with an urban electric vehicle navigating in an outdoor environment have been carried out with a fisheye camera using a single camera and natural landmarks. A navigation along a 1700-meter-long trajectory validates our approach.
Document type :
Conference papers
Complete list of metadata

Cited literature [12 references]  Display  Hide  Download
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Thursday, February 6, 2020 - 4:36:00 AM
Last modification on : Thursday, March 3, 2022 - 8:08:03 PM
Long-term archiving on: : Thursday, May 7, 2020 - 12:57:13 PM


Files produced by the author(s)


  • HAL Id : hal-02468609, version 1


Jonathan Courbon, Youcef Mezouar, Laurent Eck, Philippe Martinet. A generic framework for topological navigation of urban vehicle. ICRA09 - Workshop on Safe navigation in open and dynamic environments Application to autonomous vehicles, May 2009, Kobe, Japan. ⟨hal-02468609⟩



Record views


Files downloads