Visual navigation of a mobile robot with laser-based collision avoidance

Andrea Cherubini 1, 2 François 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
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, we propose and validate a framework for visual navigation with collision avoidance for a wheeled mobile robot. Visual navigation consists of following a path, represented as an ordered set of key images, which have been acquired by an on-board camera in a teaching phase. While following such path, the robot is able to avoid obstacles which were not present during teaching, and which are sensed by an on-board range scanner. Our control scheme guarantees that obstacle avoidance and navigation are achieved simultaneously. In fact, in the presence of obstacles, the camera pan angle is actuated to maintain scene visibility while the robot circumnavigates the obstacle. The risk of collision and the eventual avoiding behaviour are determined using a tentacle-based approach. The framework can also deal with unavoidable obstacles, which make the robot decelerate and eventually stop. Simulated and real experiments show that with our method, the vehicle can navigate along a visual path while avoiding collisions.
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Andrea Cherubini, François Chaumette. Visual navigation of a mobile robot with laser-based collision avoidance. The International Journal of Robotics Research, SAGE Publications, 2013, 32, pp.189-205. ⟨10.1177/0278364912460413⟩. ⟨hal-00750623⟩

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