A Motion Planning Strategy to Maintain Visibility of a Moving Target at a Fixed Distance in a Polygon
نویسندگان
چکیده
This paper deals with the problem of computing the motions of a robot observer in order to maintain visibility of a moving target. The target moves unpredictably, but the distribution of obstacles in the workspace is known in advance. Our approach generates a motion strategy based on partitioning the configuration space and the workspace in non-critical regions separated by critical curves. In this work it is determined geometrically whether or not for a given environment (polygon) it is always possible to keep target visibility. Furthermore we propose a strategy that is optimal in the distance traveled by the observer.
منابع مشابه
Motion strategies for maintaining visibility of a moving target
We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satis-ed. Additional criteria, such as the total distance trav-eled, can be optimized. The general problem is divided into two ...
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We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satis-ed. Additional criteria, such as the total distance trav-eled, can be optimized. The general problem is divided into two ...
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