Title :
Shortest paths for non-holonomic vehicles with limited field of view camera
Author :
Salaris, Paolo ; Fontanelli, Daniele ; Pallottino, Lucia ; Bicchi, Antonio
Author_Institution :
Interdept. Res. Center Enrico Piaggio, Univ. of Pisa, Pisa, Italy
Abstract :
This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a limited field-of-view (FOV) pinhole camera rigidly fixed. We provide an alphabet of optimal control words and then we show how to obtain the shortest path, from any point of vehicle plane, that maintains a fixed point in the camera FOV.
Keywords :
mobile robots; optimal control; path planning; limited field-of-view pinhole camera; nonholonomic vehicles; optimal control; shortest paths; unicycle-like nonholonomic mobile robots; Cameras; Manipulators; Mobile robots; Optimal control; Remuneration; Robot kinematics; Robot vision systems; Robotics and automation; Turning; Vehicles;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400812
