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A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment | IEEE Conference Publication | IEEE Xplore

A controller to avoid both occlusions and obstacles during a vision-based navigation task in a cluttered environment


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...Show More

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 by passing and the occlusion avoidance. Simulation results are given at the end of the paper.
Date of Conference: 15-15 December 2005
Date Added to IEEE Xplore: 30 January 2006
Print ISBN:0-7803-9567-0
Print ISSN: 0191-2216
Conference Location: Seville, Spain

References

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