Authors:
Marcus Futterlieb
1
;
Viviane Cadenat
2
and
Thierry Sentenac
3
Affiliations:
1
CNRS, LAAS and Univ de Toulouse, France
;
2
CNRS, LAAS and University of Toulouse, France
;
3
CNRS and LAAS, France
Keyword(s):
Navigation, Control, Mobile Robotics, Visual Servoing, Navigational Framework, Obstacle Avoidance.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
This paper presents a navigational framework which enables a robot to perform Long Range Navigation in the context of the Air-Cobot-Project in which a robot is used to execute an autonomous pre-flight inspection on an aircraft. The robot is equipped with Laser range finders and a mobile stereo camera system. The idea is to guide the robot to the pre-defined checkpoints using a Visual Servoing controller based on video data, while avoiding static and moving obstacles. The contribution of the paper is an avoidance technique derived from the spiral flight path of insects applied to the Laser range data. Simulation results validate the whole approach.