Motion planning for maintaining landmarks visibility with a differential drive robot

Authors:
Jean-Bernard Hayet;Hugo Carlos;Claudia Esteves;Rafael Murrieta-Cid
Affiliations:
-;-;-;-
Venue:
Robotics and Autonomous Systems
Year:
2014

Citing 13
Cited 0

Robot Motion Planning and Control

Robot Motion Planning and Control
Robot Motion Planning

Robot Motion Planning
Visual Navigation in Natural Environments: From Range and Color Data to a Landmark-Based Model

Autonomous Robots
Planning Algorithms

Planning Algorithms
A visual landmark framework for mobile robot navigation

Image and Vision Computing
Minimum Wheel-Rotation Paths for Differential-Drive Mobile Robots

International Journal of Robotics Research
Comparing image-based localization methods

IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Shortest paths for a robot with nonholonomic and field-of-view constraints

IEEE Transactions on Robotics
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Vision-based global localization and mapping for mobile robots

IEEE Transactions on Robotics
Optimal Paths for Landmark-Based Navigation by Differential-Drive Vehicles With Field-of-View Constraints

IEEE Transactions on Robotics
Task Sequencing for High-Level Sensor-Based Control

IEEE Transactions on Robotics
Feedback control framework for car-like robots using the unicycle controllers

Robotica

Quantified Score

Hi-index	0.00

Visualization

Abstract

This work studies the interaction of non-holonomic and visibility constraints using a Differential Drive Robot (DDR) that has to keep static landmarks in sight in an environment with obstacles. The robot has a limited sensor, namely, it has a restricted field of view and bounded sensing range (e.g. a video camera). Here, we mean by visibility that a clear line of sight can be thrown between the landmark and the sensor mounted on the DDR. We first determine the necessary and sufficient conditions for the existence of a path such that our system is able to maintain one given landmark visibility in the presence of obstacles. This is done through a recursive, complete algorithm that uses motion primitives exhibiting local optimality, as they are locally shortest-lengths paths. Then, we extend this result to the problem of planning paths guaranteeing visibility among a set of landmarks, e.g. to observe a given sequence of landmarks or to observe at each point of the path at least one element of the landmarks set. We also provide a procedure that computes the robot controls yielding such a path.