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An hybrid control for avoiding obstacles during a vision-based tracking task | IEEE Conference Publication | IEEE Xplore

An hybrid control for avoiding obstacles during a vision-based tracking task


Abstract:

This paper presents an hybrid sensor-based controller allowing to drive a mobile robot towards a target in a cluttered environment. We consider the model of a cart-like r...Show More

Abstract:

This paper presents an hybrid sensor-based controller allowing to drive a mobile robot towards a target in a cluttered environment. We consider the model of a cart-like robot with a camera mounted on a pan-platform. The proposed method combines visual servoing techniques allowing to track the target, with an obstacle avoidance strategy based on the information provided by a 2D laser range sensor. The feasability of the method is deduced from the convergence properties of both control methods. In particular, an algorithm is proposed to tune up the cart velocity so as to insure the obstacle avoidance, while avoiding the saturation of actuators. Simulation results are presented at the end of the paper.
Date of Conference: 31 August 1999 - 03 September 1999
Date Added to IEEE Xplore: 04 May 2015
Print ISBN:978-3-9524173-5-5
Conference Location: Karlsruhe, Germany

References

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