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Sensor-based Navigation of Omnidirectional Wheeled Robots Dealing with both Collisions and Occlusions

Published online by Cambridge University Press:  11 July 2019

Abdellah KhelloufiOpen the ORCID record for Abdellah Khelloufi[Opens in a new window],
Nouara Achour,
Robin Passama and
Andrea Cherubini
Abdellah Khelloufi*
Affiliation:
Center for Development of Advanced Technologies CDTA, 20 Aout 1956 City, Baba Hassen Algiers, AlgeriaFaculty of Electronics and Computer Science, USTHB, BP32 EL-ALIA, 16111 Bab Ezzouar Algiers, Algeria. E-mail: nachour@usthb.dzLIRMM, Université de Montpellier, CNRS, Montpellier, France. E-mails: passama@lirmm.fr, cherubini@lirmm.fr
Nouara Achour
Affiliation:
Faculty of Electronics and Computer Science, USTHB, BP32 EL-ALIA, 16111 Bab Ezzouar Algiers, Algeria. E-mail: nachour@usthb.dz
Robin Passama
Affiliation:
LIRMM, Université de Montpellier, CNRS, Montpellier, France. E-mails: passama@lirmm.fr, cherubini@lirmm.fr
Andrea Cherubini
Affiliation:
LIRMM, Université de Montpellier, CNRS, Montpellier, France. E-mails: passama@lirmm.fr, cherubini@lirmm.fr
*
*Corresponding author. E-mail: akhelloufi@cdta.dz
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Summary

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Navigation tasks are often subject to several constraints that can be related to the sensors (visibility) or come from the environment (obstacles). In this paper, we propose a framework for autonomous omnidirectional wheeled robots that takes into account both collision and occlusion risk, during sensor-based navigation. The task consists in driving the robot towards a visual target in the presence of static and moving obstacles. The target is acquired by fixed – limited field of view – on-board cameras, while the surrounding obstacles are detected by lidar scanners. To perform the task, the robot has not only to keep the target in view while avoiding the obstacles, but also to predict its location in the case of occlusion. The effectiveness of our approach is validated through several experiments.

Keywords

Sensor-based navigationOmnidirectional wheeled robotsObstacle avoidanceVisibility constraintsOcclusions

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 4 , April 2020, pp. 617 - 638
Copyright
© Cambridge University Press 2019 

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