Two multi-sensor-based control strategies for driving a robot amidst obstacles

Author

Cadenat, Viviane ; Soueres, Philippe ; Courdesses, Michel

Author_Institution

Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France

Volume

1

fYear

2000

fDate

2000

Firstpage

827

Abstract

We present two sensor-based control strategies for driving a wheeled robot equipped with a mobile camera and a 2D laser range finder amidst obstacles. The goal of the work is to show that a feedback control can be designed on the basis of the information coming from different sensors considered at the same level. Taking advantage of the redundancy with respect to the nominal visual task the controller allows the robot trajectory to be modified to avoid obstacles. In both cases, the control stability and the consistency of the method is proven. Simulations results are described

Keywords

collision avoidance; control system synthesis; feedback; laser ranging; mobile robots; redundancy; robot vision; 2D laser range finder; feedback control; mobile camera; multi-sensor-based control strategies; nominal visual task; wheeled robot; Cameras; Laser feedback; Mobile robots; Optical control; Redundancy; Robot sensing systems; Robot vision systems; Switches; Target tracking; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912872

Filename

912872