Informations

Type
inproceedings
Key
2005_ecmr_folio
Authors
Folio, David and Cadenat, Viviane
2005_ecmr_folio.

Abstract

This article presents a redundancy-based control strategy allowing a mobile robot to avoid simultaneously occlusions and obstacles while performing a vision-based task. The proposed method relies on the continuous switch between two controllers realizing respectively the nominal vision-based task and the occlusion and obstacle avoidance. Simulation results validating our approach are presented at the end of the paper.

Keyword

  • visual servoing
  • redundant task
  • obstacle avoidance
  • occlusion avoidance

BibTeX:

 @inproceedings{2005_ecmr_folio,
  title = {Using redundancy to avoid simultaneously occlusions and collisions while performing a vision-based task amidst obstacles},
  author = {Folio, David and Cadenat, Viviane},
  booktitle = {European Conference on Mobile Robots (ECMR'05)},
  year = {2005},
  month = sep,
  address = {Ancône, Italie},
  keywords = {Visual servoing, Redundant task, Obstacle avoidance, Occlusion avoidance}
}