Shortest Paths for a Robot With Nonholonomic and Field-of-View Constraints

This paper presents a complete characterization of shortest paths to a goal position for a robot with unicycle kinematics and an on-board camera with limited field-of-view (FOV), which must keep a given feature in sight. Previous work on this subject has shown that the search for a shortest path can...

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Bibliographic Details
Published inIEEE transactions on robotics Vol. 26; no. 2; pp. 269 - 281
Main Authors Salaris, Paolo, Fontanelli, Daniele, Pallottino, Lucia, Bicchi, Antonio
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.04.2010
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Applied sciences
Artificial intelligence
Cameras
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Kinematics
Nonholonomic motion planning
Optimal control
Optimization
Partitioning algorithms
Path planning
Pattern recognition. Digital image processing. Computational geometry
Remuneration
Robot vision systems
Robotics
Robots
Shortest path planning
shortest path synthesis
Shortest-path problems
Spirals
Synthesis
Turning
Vehicles
visual servoing
Wheel
shortest path synthesis
Control language
Shortest path
Non holonomic system
Visual servoing
Robotics
Plane motion
Nonholonomic motion planning
Robot kinematics
Optimal control
Planning
Motion control
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Summary:This paper presents a complete characterization of shortest paths to a goal position for a robot with unicycle kinematics and an on-board camera with limited field-of-view (FOV), which must keep a given feature in sight. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. In this paper, we provide a complete optimal synthesis for the problem, i.e., a language of optimal control words, and a global partition of the motion plane induced by shortest paths, such that a word in the optimal language is univocally associated with a region and completely describes the shortest path from any starting point in that region to the goal point. An efficient algorithm to determine the region in which the robot is at any time is also provided.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2009.2039379