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

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