Title :
A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment
Author :
Folio, David ; Cadenat, Viviane
Author_Institution :
PhD student at LAAS/CNRS, 7, Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France, dfolio@laas.fr
Abstract :
This paper presents a sensor-based controller allowing to visually drive a mobile robot towards a target while avoiding visual features occlusions and obstacle collisions. We consider the model of a cart-like robot equipped with proximetric sensors and a camera mounted on a pan-platform. The proposed method relies on the continuous switch between three controllers realizing respectively the nominal vision-based task, the obstacle by passing and the occlusion avoidance. Simulation results are given at the end of the paper.
Keywords :
Cameras; Manipulators; Mobile robots; Motion control; Navigation; Robot sensing systems; Robot vision systems; Robustness; Switches; Visual servoing;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582770