%0 Conference Proceedings
%F Cherubini10a
%A Cherubini, A.
%A Chaumette, F.
%T A redundancy-based approach for obstacle avoidance in mobile robot navigation
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10
%P 5700-5705
%C Taipei, Taiwan
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2010_iros_cherubini.pdf
%8 October
%D 2010