Visual Navigation With Obstacle Avoidance - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2011

Visual Navigation With Obstacle Avoidance


We present and validate a framework for vi- sual navigation with obstacle avoidance. The approach was originally designed in 1, but major improvements and real outdoor experiments are added here. Visual navigation consists of following a path, represented as an ordered set of key images, that have been acquired in a preliminary teaching phase. While following such path, the robot is able to avoid new obstacles which were not present during teaching, and which are sensed by a range scanner. We guarantee that collision avoidance and navigation are achieved simultaneously by actuating th camera pan angle, in the presence of obstacles, to maintai scene visibility as the robot circumnavigates the obstacle. Th circumnavigation verse and the collision risk are estimated using a potential vector field derived from an occupancy grid. The framework can also deal with unavoidable obstacles, which make the robot decelerate and eventually stop.


Fichier principal
Vignette du fichier
2011_iros_cherubini.pdf (845.98 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-00639660 , version 1 (09-11-2011)


  • HAL Id : hal-00639660 , version 1


Andrea Cherubini, F. Chaumette. Visual Navigation With Obstacle Avoidance. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.1593-1598. ⟨hal-00639660⟩
285 View
294 Download


Gmail Mastodon Facebook X LinkedIn More