A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task

David Folio (1) , Viviane Cadenat (1)

1 LAAS-RAP - Équipe Robotique, Action et Perception

This paper deal with the problem of executing a vision-based task in an unknown environment. During such a task, two unexpected events may occur: the image data loss due to a camera occlusion and the robot collision with obstacles. We first propose a method allowing to compute the visual data when they are totally lost, before addressing the obstacle avoidance problem. Then, we design a sensor-based control strategy to perform safely vision-based tasks despite complete loss of the image. Simulation and experimental results validate our work.

Mots clés: total image loss; vision-based navigation task; robot collision; sensor-based controller; camera occlusion; obstacle avoidance; collision avoidance; image sensors; robot vision

Domaines: Automatique / Robotique

David Folio, Viviane Cadenat. A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008), Sep 2008, Nice, France, France. pp.3052-3057, ⟨10.1109/IROS.2008.4650743⟩. ⟨hal-00603686⟩