Title :
Mixed camera-laser based control for mobile robot navigation
Author :
Dedieu, Dominique ; Cadenat, Viviane ; Souères, Philippe
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
Presents two control strategies based on the data provided by a camera and a 2D laser range sensor for driving a mobile robot towards a target amidst obstacles. The methods are based on the task function formalism and use the robot redundancy with respect to the tracking task to control both the base and the camera during the avoidance phase. Simulation results are given at the end of the paper
Keywords :
collision avoidance; image sensors; laser ranging; mobile robots; position control; redundancy; 2D laser range sensor; camera; mixed camera-laser based control; mobile robot navigation; robot redundancy; task function formalism; tracking task; Cameras; Fasteners; Mobile robots; Navigation; Optical control; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Target tracking;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893163
