具有可视性约束的全向机器人触手移动避障

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI:10.1109/IROS.2017.8202310

Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini

{"title":"具有可视性约束的全向机器人触手移动避障","authors":"Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini","doi":"10.1109/IROS.2017.8202310","DOIUrl":null,"url":null,"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.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"36 2","pages":"1331-1336"},"PeriodicalIF":0.0000,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":"{\"title\":\"Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints\",\"authors\":\"Abdellah Khelloufi, N. Achour, R. Passama, A. Cherubini\",\"doi\":\"10.1109/IROS.2017.8202310\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":6658,\"journal\":{\"name\":\"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"volume\":\"36 2\",\"pages\":\"1331-1336\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-09-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"16\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2017.8202310\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2017.8202310","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 16

摘要

提出了一种基于触手的全向移动机器人避障方案，该方案在导航过程中必须满足可见性约束。导航任务包括在存在环境(静态或移动)障碍的情况下驾驶机器人向视觉目标移动。目标由机载摄像机获取，而机器人周围的障碍物由激光距离扫描仪感知。为了完成这样的任务，机器人必须避开障碍物，同时保持目标在其视野内。仿真实验和实际实验验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

自引率

0.00%

发文量