Avoiding Moving Obstacles during Visual Navigation

Andrea Cherubini 1 Boris Grechanichenko 1 Fabien Spindler 2 François Chaumette 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 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 : Moving obstacle avoidance is a fundamental requirement for any robot operating in real environments, where pedestrians, bicycles and cars are present. In this work, we design and validate a new approach that takes explicitly into account obstacle velocities, to achieve safe visual navigation in outdoor scenarios. A wheeled vehicle, equipped with an actuated pinhole camera and with a lidar, must follow a path represented by key images, without colliding with the obstacles. To estimate the obstacle velocities, we design a Kalman-based observer. Then, we adapt the tentacles designed in [1], to take into account the predicted obstacle positions. Finally, we validate our approach in a series of simulated and real experiments, showing that when the obstacle velocities are considered, the robot behaviour is safer, smoother, and faster than when it is not.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.3054-3059, 2013, 〈http://www.icra2013.org/〉
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00808317
Contributeur : François Keith <>
Soumis le : vendredi 5 avril 2013 - 11:19:30
Dernière modification le : mercredi 11 avril 2018 - 01:51:21
Document(s) archivé(s) le : lundi 3 avril 2017 - 00:24:26

Fichier

2013_icra_cherubini-avoiding_m...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : lirmm-00808317, version 1

Citation

Andrea Cherubini, Boris Grechanichenko, Fabien Spindler, François Chaumette. Avoiding Moving Obstacles during Visual Navigation. ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.3054-3059, 2013, 〈http://www.icra2013.org/〉. 〈lirmm-00808317〉

Partager

Métriques

Consultations de la notice

894

Téléchargements de fichiers

418