- Folio, David and Cadenat, Viviane
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.
- 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;