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A redundancy-based scheme to perform safe vision-based tasks amidst obstacles

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2 Author(s)
Folio, D. ; LAAS/CNRS, Toulouse ; Cadenat, V.

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.

Published in:

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Date of Conference:

17-20 Dec. 2006