Using Task Redundancy for Obstacle Avoidance in Robot Navigation

Abstract

The goal is to apply vision based robot control by exploring the information provided by vision sensor in feedback control loop. This visual based controller is used to control the motion of designed four wheels mobile robot in unstructured indoor environment. Tasks performed by the robot required the robot to move from initial position toward a desired position while keeping the object in the field of view of the camera with the capability to avoid collision with front obstacles encountered during its motion.