This paper presents the study of shortest paths for a robot with unicycle kinematics equipped with a limited Field– Of–View (FOV) camera, which must keep a given feature in sight. Previous works on this subject have provided the optimal synthesis for the case in which the FOV is limited in the left and right directions (H–FOV). Toward the final goal of obtaining the shortest paths synthesis for a realistic image plane modeled as a rectangle, in this paper we study the complementary case in which only upper and lower image plane direction are limited (V–FOV). A finite alphabet of extremal arcs is obtained. We also show that in some cases there exist no optimal path. However, we are always able to provide a path whose length approximates arbitrarily well any other shorter path.
Shortest paths for wheeled robots with limited Field-Of-View: introducing the vertical constraint
P. Salaris;PALLOTTINO, LUCIA;BICCHI, ANTONIO
2013-01-01
Abstract
This paper presents the study of shortest paths for a robot with unicycle kinematics equipped with a limited Field– Of–View (FOV) camera, which must keep a given feature in sight. Previous works on this subject have provided the optimal synthesis for the case in which the FOV is limited in the left and right directions (H–FOV). Toward the final goal of obtaining the shortest paths synthesis for a realistic image plane modeled as a rectangle, in this paper we study the complementary case in which only upper and lower image plane direction are limited (V–FOV). A finite alphabet of extremal arcs is obtained. We also show that in some cases there exist no optimal path. However, we are always able to provide a path whose length approximates arbitrarily well any other shorter path.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
