Motion strategies for maintaining visibility of a moving target

Steven M. LaValle, Hector H. Gonzalez-Banos, Craig Becker, Jean Claude Latombe

Research output: Contribution to journalConference articlepeer-review

Abstract

We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satisfied. Additional criteria, such as the total distance traveled, can be optimized. The general problem is divided into two categories, on the basis of whether the target is predictable. For the predictable case, an algorithm that computes optimal, numerical solutions is presented. For the more challenging case of a partially-predictable target, two on-line algorithms are presented that each attempt to maintain future visibility with limited prediction. One strategy maximizes the probability that the target will remain in view in a subsequent time step, and the other maximizes the minimum time in which the target could escape the visibility region. We additionally discuss issues resulting from our implementation and experiments on a mobile robot system.

Original languageEnglish (US)
Pages (from-to)731-736
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1997
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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