Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot

R. Murrieta-Cid, L. Muñpoz-Gomez A., M. Alencastre-Miranda, A. Sarmiento, S. Kloder, S. Hutchinson, F. Lamiraux, J. P. Laumond

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we consider the problem of maintaining surveillance of a moving the target by a nonholonomic mobile observer. The observer's goal is to maintain visibility of the target from a predefined, fixed distance, l. The target escapes if (a) it moves behind an obstacle to occlude the observer's view, (b) it causes the observer to collide with an obstacle, or (c) it exploits the nonholonomic constraints on the observer motion to increase its distance from the observer beyond the surveillance distance l. We deal specifically with the situation in which the only constraint on the target's velocity is a bound on speed (i.e., there are no nonholonomic constraints on the target's motion), and the observer is a nonholonomic, differential drive system having bounded speed. We develop the system model, from which we derive a lower bound for the required observer speed. Finally, we consider the effect of obstacles on the observer's ability to successfully track the target.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages2687-2693
Number of pages7
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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