- Folio, David and Cadenat, Viviane
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.
- visual servoing
- redundant task
- obstacle avoidance
- occlusion avoidance