Visual servoing based mobile robot navigation able to deal with complete target loss

Wenhao Fu (1) , Hicham Hadj-Abdelkader (1) , Etienne Colle (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper combines the reactive collision avoidance methods with image-based visual servoing control for mobile robot navigation in an indoor environment. The proposed strategy allows the mobile robot to reach a desired position, described by a natural visual target, among unknown obstacles. While the robot avoids the obstacles, the camera could lose its target, which makes visual servoing fail. We propose in this paper a strategy to deal with the loss of visual features by taking advantage of the odometric data sensing. Obstacles are detected by the laser range finder and their boundaries are modeled using B-spline curves. We validate our strategy in a real experiment for an indoor mobile robot navigation in presence of obstacles.

Domaines: Automatique / Robotique; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Wenhao Fu, Hicham Hadj-Abdelkader, Etienne Colle. Visual servoing based mobile robot navigation able to deal with complete target loss. 18th International Conference on Methods and Models in Automation and Robotics (MMAR 2013), Aug 2013, Międzyzdroje, Poland. (to appear). ⟨hal-00845541⟩