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In this paper, we propose a framework for visual navigation with simultaneous obstacle avoidance. The obstacles are modeled by using a vortex potential field, derived from an occupancy grid. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently, and the whole scheme is merely sensor-based. The problem is solved both in an obstacle-free and in a dangerous...
In this paper we propose a circular path planning algorithm using a monocular camera and ultrasonic sensors in order for a mobile robot to avoid obstacles. The proposed circular path algorithm determines the radius of a circular to avoid the detected obstacle using its position and size data. A monocular camera and ultrasonic sensors are used in order to compensate the shortage of usage of each sensor...
Path planning is a useful technique for visual servoing as it allows one to take into account system constraints and achieve desired performances during the camera motion. In this paper, we propose a new framework for path planning based on the use of homogeneous forms and linear matrix inequalities (LMIs). Specifically, we introduce a general parametrization of the trajectories from the initial to...
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