DocumentCode
1739789
Title
Mixed camera-laser based control for mobile robot navigation
Author
Dedieu, Dominique ; Cadenat, Viviane ; Souères, Philippe
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
2
fYear
2000
fDate
2000
Firstpage
1081
Abstract
Presents two control strategies based on the data provided by a camera and a 2D laser range sensor for driving a mobile robot towards a target amidst obstacles. The methods are based on the task function formalism and use the robot redundancy with respect to the tracking task to control both the base and the camera during the avoidance phase. Simulation results are given at the end of the paper
Keywords
collision avoidance; image sensors; laser ranging; mobile robots; position control; redundancy; 2D laser range sensor; camera; mixed camera-laser based control; mobile robot navigation; robot redundancy; task function formalism; tracking task; Cameras; Fasteners; Mobile robots; Navigation; Optical control; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Target tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.893163
Filename
893163
Link To Document