DocumentCode
426300
Title
Path planning for a differential drive robot: minimal length paths - a geometric approach
Author
Bhattacharya, Sourabh ; Murrieta-Cid, Rafael ; Hutchinson, Seth
Author_Institution
Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana-Champaign, IL, USA
Volume
3
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
2793
Abstract
This work presents the minimal length paths, for a robot that maintains visibility of a landmark. The robot is a differential drive system and has limited sensing capabilities (range and angle of view). The optimal paths are composed of straight lines and curves that saturate the camera pan angle.
Keywords
mobile robots; optimisation; path planning; camera pan angle saturation; differential drive robot; geometric approach; minimal length paths; optimal paths; path planning; Cameras; Controllability; Maintenance engineering; Mobile robots; Orbital robotics; Parallel robots; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389832
Filename
1389832
Link To Document