A Redundancy-Based Approach to Obstacle Avoidance Applied to Mobile Robot Navigation - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2010

A Redundancy-Based Approach to Obstacle Avoidance Applied to Mobile Robot Navigation

Abstract

In this paper, we propose a framework for visual navigation with simultaneous obstacle avoidance. The obstacles are modeled by using a vortex potential field, derived from an occupancy grid. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently, and the whole scheme is merely sensor-based. The problem is solved both in an obstacle-free and in a dangerous context, and the control law is smoothened in the intermediate situations. In a series of simulations, we show that with our framework, a robot can replay a taught visual path while avoiding collisions, even in the presence of visual occlusions.
Fichier principal
Vignette du fichier
2010_iros_cherubini.pdf (2.18 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00544784 , version 1 (10-12-2010)

Identifiers

  • HAL Id : inria-00544784 , version 1

Cite

Andrea Cherubini, François Chaumette. A Redundancy-Based Approach to Obstacle Avoidance Applied to Mobile Robot Navigation. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.5700-5705. ⟨inria-00544784⟩
175 View
138 Download

Share

Gmail Facebook X LinkedIn More