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A. Cherubini, F. Chaumette. A redundancy-based approach for obstacle avoidance in mobile robot navigation. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 5700-5705, Taipei, Taiwan, October 2010.

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In this paper, we propose a framework for visual navigation with simultaneous obstacle avoidance. The obstacles are modeled by using a vortex potential field, derived from an occupancy grid. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently, and the whole scheme is merely sensor-based. The problem is solved both in an obstacle-free and in a dangerous context, and the control law is smoothened in the intermediate situations. In a series of simulations, we show that with our framework, a robot can replay a taught visual path while avoiding collisions, even in the presence of visual occlusions


François Chaumette

BibTex Reference

   Author = {Cherubini, A. and Chaumette, F.},
   Title = {A redundancy-based approach for obstacle avoidance in mobile robot navigation},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
   Pages = {5700--5705},
   Address = {Taipei, Taiwan},
   Month = {October},
   Year = {2010}

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