Type
inproceedings
Key
2006_robio_folio
Authors
Folio, David and Cadenat, Viviane

Abstract

This paper presents a redundancy-based scheme allowing to avoid both occlusions and obstacles for a mobile robot performing a vision-based task in a cluttered environment. We consider the model of a cart-like robot equipped with ultrasonic sensors and a camera mounted on a pan-platform. The proposed method relies on the continuous switch between several controllers depending on the environment. Experimental results validating this approach are given at the end of the paper.

Keywords


BibTeX:


 @inproceedings{2006_robio_folio,
  title = {A redundancy-based scheme to perform safe vision-based tasks amidst obstacles},
  author = {Folio, David and Cadenat, Viviane},
  booktitle = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO'06)},
  year = {2006},
  address = {Kunming, Yunnan, Chine},
  month = dec,
  note = {Finalist to the T.J. Tarn best paper in Robotics},
  pages = {13--18},
  doi = {10.1109/ROBIO.2006.340252},
  keywords = {cart-like robots, cluttered environments;continuous switch;mobile robots;redundancy-based scheme;ultrasonic sensors;vision-based task;vision-based tasks;collision avoidance;mobile robots;robot vision;ultrasonic transducers;}
}