A motion planner for maintaining landmark visibility with a differential drive robot. (English) Zbl 1215.93096
Chirikjian, Gregory S. (ed.) et al., Algorithmic foundations of robotics VIII. Selected contributions of the eighth international workshop on the algorithmic foundations of robotics (WAFR 2008), Guanajuato, México, December 7–9, 2008. Berlin: Springer (ISBN 978-3-642-00311-0/hbk978-3-642-00312-7/ebook). Springer Tracts in Advanced Robotics 57, 333-347 (2010).
Summary: 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.
For the entire collection see [Zbl 1184.68006].
For the entire collection see [Zbl 1184.68006].
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
