Abstract
This work studies the interaction of the nonholonomic and visibility constraints of a robot that has to maintain visibility of a static landmark. The robot is a differential drive system and has a sensor with limited field of view. We determine the necessary and sufficient conditions for the existence of a path for our system to be able to maintain landmark visibility in the presence of obstacles. We present a complete motion planner that solves this problem based on a recursive subdivision of a path computed for a holonomic robot with the same visibility constraints.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Balkcom, D., Mason, M.: Time optimal trajectories for bounded velocity differential drive vehicles. Int. J. of Robotics Research 21(3), 199–217 (2002)
Bhattacharya, S., Murrieta-Cid, R., Hutchinson, S.: Optimal paths for landmark-based navigation by differential-drive vehicles with field-of-view constraints. IEEE Trans. on Robotics 23(1), 47–59 (2007)
Briggs, A., Detweiler, C., Scharstein, D., Vandenberg-Rodes, A.: Expected shortest paths for landmark-based robot navigation. Int. J. of Robotics Research 8(12) (2004)
Chitsaz, H., LaValle, S., Balkcom, D., Mason, M.: Minimum wheel-rotation paths for differential-drive robots. In: IEEE Int. Conf. on Robotics and Automation (2006)
Choset, H., Lynch, K., Hutchinson, S., Cantor, G., Burgard, W., Kavraki, L., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, Boston (2005)
Hayet, J.B., Esteves, C., Murrieta-Cid, R.: Shortest paths for differential drive robots under visibility and sensor constraints. Technical Report I-09-02/24-02-2009, CIMAT (Submitted to IEEE-TRO, 2009), http://www.cimat.mx/~jbhayet/PUBLIS/Hayet-TR2009.pdf
Hayet, J.B., Lerasle, F., Devy, M.: A visual landmark framework for mobile robot navigation. Image and Vision Computing 8(25), 1341–1351 (2007)
Isler, V., Sun, D., Sastry, S.: Roadmap based pursuit-evasion and collision avoidance. Robot-Sci. Syst., 257–264 (2005)
Latombe, J.-C.: Robot motion planning. Kluwer, Dordrecht (1991)
Laumond, J.-P.: Robot motion planning and control. Springer, Heidelberg (1998)
Laumond, J.-P., Jacobs, P.E., Taïx, M., Murray, R.M.: A motion planner for nonholonomic mobile robots. IEEE Trans. on Robotics and Automation 10(5), 577–593 (1994)
LaValle, S.: Planning Algorithms. Cambridge University Press, Cambridge (2006)
López-Nicolás, G., Bhattacharya, S., Guerrero, J., Sagüés, C., Hutchinson, S.: Switched homography-based visual control of differential drive vehicles with field-of-view constraints. In: Proc. of the IEEE Int. Conference on Robotics and Automation, pp. 4238–4244 (2007)
Reeds, J.A., Shepp, L.A.: Optimal paths for a car that goes both forwards and backwards. Pacific J. of Mathematics 145(2), 367–393 (1990)
Salaris, P., Belo, F., Fontanelli, D., Greco, L., Bicchi, A.: Optimal paths in a constrained image plane for purely image-based parking. In: Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1673–1680 (2008)
Souères, P., Laumond, J.-P.: Shortest paths synthesis for a car-like robot. IEEE Trans. on Automatic Control 41(5), 672–688 (1996)
Thrun, S.: Bayesian landmark learning for mobile robot localization. Machine Learning 33(1) (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Hayet, JB., Esteves, C., Murrieta-Cid, R. (2009). A Motion Planner for Maintaining Landmark Visibility with a Differential Drive Robot. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_21
Download citation
DOI: https://doi.org/10.1007/978-3-642-00312-7_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00311-0
Online ISBN: 978-3-642-00312-7
eBook Packages: EngineeringEngineering (R0)