Shortest Paths With Side Sensors
We present a complete characterization of shortest paths to a goal position for a vehicle with unicycle kinematics and a limited range sensor, constantly keeping a given landmark in sight. Previous work on this subject studied the optimal paths in case of a frontal, symmetrically limited Field–Of–View (FOV). In this paper we provide a generalization to the case of arbitrary FOVs, including the case that the direction of motion is not an axis of symmetry for the FOV, and even that it is not contained in the FOV. The provided solution is of particular relevance to applications using side-scanning, such as e.g. in underwater sonar-based surveying and navigation.
Paolo Salaris Lucia Pallottino Antonio Bicchi
The Interdept. Research Center Enrico Piaggio,University of Pisa,via Diotisalvi 2,56100 Pisa,Italy
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4875-4882
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）