Department of Computer, Control and Management Engineering

This letter considers the problem of collision-free navigation of omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve the task. Three different visual servoing control schemes, compatible with the class of considered robot kinematics and sensor equipment, are analyzed and their robustness properties with respect to actuation inaccuracies discussed. Then, a controller is proposed with formal guarantee of convergence to the bisector of a corridor. The main controller components are a visual servoing control scheme and a velocity estimation algorithm integrating visual, kinematic, and inertial information. The behavior of all the considered algorithms is analyzed and illustrated through simulations both for a wheeled and a humanoid robot. The solution proposed as the most efficient and robust with respect to actuation inaccuracies is also validated experimentally on a real humanoid NAO.