Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints
Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints
复制标题
基于触手的视线约束全向机器人移动避障
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
A. Cherubini
中科院分区：
文献类型：
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作者：
Abdellah Khelloufi;N. Achour;R. Passama;A. Cherubini
本文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）障碍物的情况下驾驶机器人朝向视觉目标。目标由机载摄像头获取，而机器人周围的障碍物由激光测距扫描仪感测。为了执行此类任务，机器人必须避开障碍物，同时将目标保持在其视野范围内。该方法在模拟和实际实验中都得到了验证。
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.