Motion planning for maintaining landmarks visibility with a differential drive robot

Hayet, Jean-Bernard; Carlos, Hugo; Esteves, Claudia; Murrieta-Cid, Rafael

doi:10.1016/j.robot.2013.12.003

Cited by 12 publications

(9 citation statements)

References 24 publications

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“…where κ(β P ) = arctan 1 cos β P sin β P (16) and For space limitations the proof of the theorem is omitted. 2 However, for reader convenience, the infimum length paths from Q on I L P to P are reported in the left sector of Fig.…”

Section: B Optimal Synthesis For P With ρ P > ρmentioning

confidence: 99%

“…However, the FOV problem has been successfully solved for a unicycle-like vehicle in [13]- [15] nevertheless, the resultant path is inefficient and absolutely not optimal. Several preliminary results have been recently obtained in case of navigation in environment with obstacles that may occlude the landmark visibility, see e.g., [16] and [17]. In [17] author propose a motion planning strategy for a humanoid to safely navigate among obstacles while maintaining at least one landmark in sight.…”

Section: Introductionmentioning

confidence: 99%

“…a path that consists of shortest geometric primitives. In [16] necessary and sufficient conditions for the existence of a collision free path that ensure a given landmark visibility also in presence of obstacles are obtained through an iterative algorithm. A related study, similar to the one analyzed in this paper, has been tackled in [18] where only right and left camera limits, i.e., the Horizontal-FOV (H-FOV) constraints, were taken into account.…”

Section: Introductionmentioning

confidence: 99%

“…If the pan and tilt angles are wide enough to cover the whole 4π solid angle, then optimal control is trivialized to a non-limited FOV problem. If otherwise the pan/tilt angles are limited (such as e.g., in [1], [16], [17] and [21]), then our problem definition remains valid, only with wider bounds.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View

Salaris

Cristofaro

Pallottino

et al. 2015

IEEE Trans. Automat. Contr.

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This paper presents a contribution to the problem of obtaining an optimal synthesis for shortest paths for a unicycle guided by an on-board limited Field-Of-View (FOV) sensor, which must keep a given landmark in sight. Previous works on this subject have provided an optimal synthesis for the case in which the FOV is limited in the horizontal directions (H-FOV, i.e., left and right boundaries). In this paper we study the complementary case in which the FOV is limited only in the vertical direction (V-FOV, i.e., upper and lower boundaries). With respect to the H-FOV case, the vertical limitation is all but a simple extension. Indeed, not only the geometry of extremal arcs is different, but also a more complex structure of the synthesis is revealed by analysis. We will indeed show that there exist initial configurations for which the optimal path does not exist. In such cases, we provide an ε-optimal path whose length approximates arbitrarily well any other shorter path. Finally, we provide a partition of the motion plane in regions such that the optimal or ε-optimal path from each point in that region is univocally determined

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Section: B Optimal Synthesis For P With ρ P > ρmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View

Salaris

Cristofaro

Pallottino

et al. 2015

IEEE Trans. Automat. Contr.

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show abstract

“…Due to their simple and reliable propulsion mechanism, DDMRs are adopted in almost all research fields: pathtracking, [5][6][7][8][9] trajectory-planning, [10][11][12][13][14] position-estimation, 15,16 navigation control [17][18][19] and multi-robot control. [20][21][22] Robot models are the indispensable basis for the various applications mentioned earlier.…”

Section: Introductionmentioning

confidence: 99%

Steering-angle computation for the multibody modelling of differential-driving mobile robots with a caster

Ángeles²,

Zou

et al. 2018

International Journal of Advanced Robotic Systems

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Since many off-the-shelf motor drives are supplied with complete control capability in the current, velocity and position loop, the robot model in the navigation control architecture can be oriented either to kinematics, interfaced with the velocity loop, or to dynamics, with the motor-current loop. Moreover, no constraints are imposed by a caster on the mobility of differential-driving mobile robots. Hence, a reduced model, containing only the platform, is sufficient for navigation control based only on the robot kinematics. However, if the multibody system model is used for navigation control based on the robot dynamics, to cope with the demands of high-speed manoeuvres and/or heavy-load operations, then the caster kinematics, especially the knowledge of the steering angle, is required to calculate the inertia matrix and the terms of Coriolis and centrifugal forces. While this angle can be measured by means of dedicated encoders to be installed for casters, the computation technique based on the existing tachometers, already mounted on the motor shafts for the servo control of the two driving wheels, is proved to be sufficient. Both a thorough kinematics model and a multibody dynamics model, including the platform and all different wheels, are formulated here for differential-driving mobile robots. Computational methods based on velocity compatibility and rigid body twists are proposed to estimate the steering angle. Simulation results of the differential-driving mobile robot moving on a smooth trajectory show the feasibility of the steering-angle computational scheme, which obviates the need of installing caster encoders. Moreover, a performance comparison on system modelling is implemented via simulation, between the differential-driving mobile robot model with and without caster dynamics. This further validates the importance of the dynamic effects of casters on the whole system model. Therefore, the multibody modelling approach for casters with the steering-angle computation technique can facilitate the navigation control architecture under dynamics conditions.

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A motion strategy for exploration driven by an automaton activating feedback-based controllers

et al. 2019

Self Cite

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This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. To explore the environment, the robot follows the environment boundary. In the first part of this paper, we propose a motion policy based on simple sensor feedback and a complete exploration strategy is represented as a Moore machine. The proposed motion policy is based on the paradigm of avoiding the state estimation; there is a direct mapping from observation to control. We present the theoretical conditions guaranteeing that the robot discovers the largest possible region of the environment. In the second part of the paper, we propose an automaton that filters spurious observations to activate feedback-based controllers. We propose a practical control scheme whose objective This work was partially funded by CONACYT projects 220796 and 264896.

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Motion planning for maintaining landmarks visibility with a differential drive robot

Cited by 12 publications

References 24 publications

Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View

Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View

Steering-angle computation for the multibody modelling of differential-driving mobile robots with a caster

A motion strategy for exploration driven by an automaton activating feedback-based controllers

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