TY - JOUR
T1 - Optimal paths for landmark-based navigation by differential-drive vehicles with field-of-view constraints
AU - Bhattacharya, Sourabh
AU - Murrieta-Cid, Rafael
AU - Hutchinson, Seth
N1 - Funding Information:
Manuscript received December 27, 2005, revised August 9, 2006. This paper was recommended for publication by Associate Editor W. F. Chung and Editor K. Lynch upon evaluation of the reviewers’ comments. This work was supported in part by the National Science Foundation under Awards CCR-0085917 and IIS-0083275. This paper was presented in part at the IEEE International Conference on Robotics and Automation, Orlando, FL, May 2006, and in part at the IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004.
PY - 2007/2
Y1 - 2007/2
N2 - In this paper, we consider the problem of planning optimal paths for a differential-drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its environment. In particular, we assume that the robot's vision sensor has a limited field of view (FOV), and that the fixed landmark must remain within the FOV throughout the robot's motion.We first investigate the nature of extremal paths that satisfy the FOV constraint. These extremal paths saturate the camera pan angle. We then show that optimal paths are composed of straight-line segments and sections of these these extremal paths. We provide the complete characterization of the shortest paths for the system by partitioning the plane into a set of disjoint regions, such that the structure of the optimal path is invariant over the individual regions.
AB - In this paper, we consider the problem of planning optimal paths for a differential-drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its environment. In particular, we assume that the robot's vision sensor has a limited field of view (FOV), and that the fixed landmark must remain within the FOV throughout the robot's motion.We first investigate the nature of extremal paths that satisfy the FOV constraint. These extremal paths saturate the camera pan angle. We then show that optimal paths are composed of straight-line segments and sections of these these extremal paths. We provide the complete characterization of the shortest paths for the system by partitioning the plane into a set of disjoint regions, such that the structure of the optimal path is invariant over the individual regions.
KW - Nonholonomic constraints
KW - Optimal control
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U2 - 10.1109/TRO.2006.886841
DO - 10.1109/TRO.2006.886841
M3 - Article
AN - SCOPUS:33947374690
SN - 1552-3098
VL - 23
SP - 47
EP - 59
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 1
ER -