Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini
{"title":"Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints","authors":"Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini","doi":"10.1109/IROS.2017.8202310","DOIUrl":null,"url":null,"abstract":"This paper presents a tentacle-based obstacle avoidance scheme for omnidirectional mobile robots that must satisfy visibility constraints during navigation. The navigation task consists of driving the robot towards a visual target in the presence of environment (static or moving) obstacles. The target is acquired by an on-board camera, while the obstacles surrounding the robot are sensed by laser range scanners. To perform such task, the robot must avoid the obstacles while maintaining the target in its field of view. The approach is validated in both simulated and real experiments.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"36 2","pages":"1331-1336"},"PeriodicalIF":0.0000,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2017.8202310","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 16
Abstract
This paper presents a tentacle-based obstacle avoidance scheme for omnidirectional mobile robots that must satisfy visibility constraints during navigation. The navigation task consists of driving the robot towards a visual target in the presence of environment (static or moving) obstacles. The target is acquired by an on-board camera, while the obstacles surrounding the robot are sensed by laser range scanners. To perform such task, the robot must avoid the obstacles while maintaining the target in its field of view. The approach is validated in both simulated and real experiments.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
