Title :
A controller to perform a visually guided tracking task in a cluttered environment
Author :
Cadenat, Viviane ; Swain, Ricardo ; Souères, Philippe ; Devy, Michel
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
Presents a controller for driving a mobile robot towards a target in a cluttered environment. The proposed method combines visual servoing techniques allowing the target to be tracked, with an obstacle avoidance strategy based on the information provided by a 2D laser range sensor. Simulation results are presented at the end of the paper
Keywords :
CCD image sensors; collision avoidance; laser ranging; mobile robots; robot vision; target tracking; 2D laser range sensor; cluttered environment; obstacle avoidance strategy; visual servoing techniques; visually guided tracking task; Cameras; Displacement control; Error correction; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Target tracking; Vehicles; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812774
