Title :
Controllability and properties of optimal paths for a differential drive robot with field-of-view constraints
Author :
Bhattacharya, Sourabh ; Hutchinson, Seth
Author_Institution :
Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL
Abstract :
This work presents the proof of controllability for a differential drive robot that maintains visibility of a landmark. The robot has limited sensing capabilities (angle of view). We also present properties of optimal paths for this system
Keywords :
controllability; mobile robots; robot vision; controllability; differential drive robot; field-of-view constraints; optimal paths; robot vision; Cameras; Controllability; Drives; Mobile robots; Optical saturation; Orbital robotics; Parallel robots; Robot kinematics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641939
