A pursuit-evasion BUG algorithm

Author

Rajko, Stjepan ; LaValle, Steven M.

Author_Institution

Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1954

Abstract

We consider the problem of searching for an unpredictable moving target, using a robot that lacks a map of the environment, lacks the ability to construct a map, and has imperfect navigation ability. We present a complete algorithm, which yields a motion strategy for the robot that guarantees the elusive target will be detected, if such a strategy exists. It is assumed that the robot has an omnidirectional sensing device that is used to detect moving targets and also discontinuities in depth data in a 2D environment. We also show that the robot has the same problem solving power as a robot that has a complete map and perfect navigation abilities. The algorithm has been implemented in simulation, and some examples are shown.

Keywords

computational geometry; directed graphs; mobile robots; path planning; navigation ability; omnidirectional sensing device; pursuit-evasion BUG algorithm; unpredictable moving target; Computational geometry; Computational modeling; Computer science; Embedded computing; Military computing; Motion detection; Navigation; Pursuit algorithms; Robot sensing systems; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932894

Filename

932894