Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints

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.
Type de document :
Pré-publication, Document de travail
2017
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https://hal.archives-ouvertes.fr/hal-01521920
Contributeur : Cherubini Andrea <>
Soumis le : vendredi 12 mai 2017 - 14:53:26
Dernière modification le : mercredi 17 mai 2017 - 01:06:07

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  • HAL Id : hal-01521920, version 1

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Abdellah Khelloufi, Andrea Cherubini, Nouara Achour, Robin Passama. Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints. 2017. <hal-01521920>

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