Path planning for a differential drive robot: Minimal length paths-a geometric approach

Sourabh Bhattacharya, Rafael Murrieta-Cid, Seth Hutchinson

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

Abstract

This work presents the minimal length paths, for a robot that maintains visibility of a landmark. The robot is a differential drive system and has limited sensing capabilities (range and angle of view). The optimal paths are composed of straight lines and curves that saturate the camera pan angle.

Original languageEnglish (US)
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages2793-2798
Number of pages6
Volume3
StatePublished - 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • Engineering(all)

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