A Redundancy-Based Approach for Visual Navigation with Collision Avoidance

Andrea Cherubini 1, 2 F. Spindler 1 F. Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : We propose an autonomous vehicle guidance framework which combines visual navigation with simultaneous obstacle avoidance. The method was originally designed prviously, but real outdoor experiments and major improvements have been added in this paper. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently. The two tasks are realized both in an obstacle-free and in a dangerous context, and the control law is smoothened in between. The experiments show that with our method, the vehicle can replay a taught visual path while avoiding collisions.
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Andrea Cherubini, F. Spindler, F. Chaumette. A Redundancy-Based Approach for Visual Navigation with Collision Avoidance. IEEE Symp. on Computational Intelligence in Vehicles and Transportation Systems, CIVTS'11, 2011, Paris, France. ⟨hal-00639658⟩

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