A Navigational Framework Combining Visual Servoing and Spiral Obstacle Avoidance Techniques

Marcus Futterlieb, Viviane Cadenat, Thierry Sentenac
2014 Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics  
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
more » ... r is an avoidance technique derived from the spiral flight path of insects applied to the Laser range data. Simulation results validate the whole approach.
doi:10.5220/0005027800570064 dblp:conf/icinco/FutterliebCS14 fatcat:7ozlpzticrfufkgt6nzvhtnjuu