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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389832
