Vicent Girbés

Publications (6) View all

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  Available from: Vicent Girbés

  Conference Proceeding: On generating continuous-curvature paths for line following problem with curvature and sharpness constraints

  V. Girbes, L. Armesto, J. Tornero
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  ABSTRACT: The main contribution of the paper is to provide a method to generate continuous curvature paths in order to converge to a line, based on combinations of clothoids with line segments and circular arcs. Different kinds of continuous curvature paths have been defined in order to solve problems with different complexity. The type of paths that we have generated get the benefits of higher comfort and safety. Generated paths take into account lower and upper bounds of sharpness and curvature simultaneously, while it is not the case of other continuous curvature paths such as Elementary and BiElementary paths. Wheeled mobile robots following a path with continuous curvature may also get benefit on wheels slippage reduction and low odometry errors, since transitions are softer with constant curvature rates.
  Robotics and Automation (ICRA), 2011 IEEE International Conference on; 06/2011
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  Conference Proceeding: Multi-rate Visual Servoing Based on Dual-Rate High Order Holds.

  J. Ernesto Solanes, Josep Tornero, Leopoldo Armesto, Vicent Girbes
  Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 - September 2, 2011. Proceedings; 01/2011
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  Conference Proceeding: Smooth Kinematic Controller vs. Pure-Pursuit for Non-holonomic Vehicles.

  Vicent Girbes, Leopoldo Armesto, Josep Tornero, J. Ernesto Solanes
  Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 - September 2, 2011. Proceedings; 01/2011
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  Available from: Vicent Girbés

  Conference Proceeding: Continuous-curvature kinematic control for path following problems.

  Vicent Girbes, Leopoldo Armesto, Josep Tornero, J. Ernesto Solanes
  2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 01/2011
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  Conference Proceeding: PISALA project. Intelligent Sensorization for Line tracking with Artificial Vision

  Vicent Girbes, Leopoldo Armesto, Josep Tornero
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  ABSTRACT: This paper presents an artificial vision embedded solution for detecting painted lines on the floor, in the context of the Research Project PISALA (Industrial Prototype for Automatic Line Tracking with Artificial Vision), whose main objective is to provide vision-based solutions for Automated Guided Vehicles (AGVs). In addition the paper proposes a procedure for evaluating robustness and accuracy of line-detection algorithms including qualitative and quantitative tests for detecting specific situations such as images with multiple lines or lines with spurious objects, lines with different colors, etc. The paper also considers the algorithm¿s sensibility with respect to extrinsic camera calibration errors, in order to define the bounds of the detection area. As a result, low cost robust algorithms for line detection can be evaluated. The examples for validation have been implemented on the embedded vision system CMUCAM3.
  Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK); 07/2010