DocumentCode
2097167
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
fYear
2006
fDate
15-19 May 2006
Firstpage
1624
Lastpage
1629
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641939
Filename
1641939
Link To Document