Type
inproceedings
Key
2005_ecc_folio
Authors
Folio, David and Cadenat, Viviane

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 bypassing and the occlusion avoidance.Simulationresults are given at the end of the paper.

Keywords


BibTeX:


 @inproceedings{2005_ecc_folio,
  title = {A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment},
  author = {Folio, David and Cadenat, Viviane},
  booktitle = {European Control Conference (ECC'05)},
  year = {2005},
  address = {Seville, Espagne},
  month = dec,
  pages = {3898--3903},
  doi = {10.1109/CDC.2005.1582770},
  keywords = {Visual servoing, Redundant task, Obstacle avoidance, Occlusion avoidance},
  ieeexplore = {1582770}
}