Abstract
This work studies the interaction of the nonholonomic and visibility constraints of a robot to maintain visibility of a landmark. The robot is a differential drive system (nonholonomic robot) and has a sensor with limited capabilities (limited field of view). In this research, we want to determine whether or not a robot can always maintain visibility of a landmark during the execution of a path between any two locations. We present two kinematic models. First, a robot with 3 controls, where the controls correspond to the two wheels velocities plus one independent controlled sensor. Second, a model with only 2 controls, which controls both the wheels and the sensor rotation. We show that our system (with 3 or 2 controls) is small-time local controllable.
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Murrieta-Cid, R., Hayet, JB. (2007). Small-Time Local Controllability of a Differential Drive Robot with a Limited Sensor for Landmark-Based Navigation. In: Gelbukh, A., Kuri Morales, Á.F. (eds) MICAI 2007: Advances in Artificial Intelligence. MICAI 2007. Lecture Notes in Computer Science(), vol 4827. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76631-5_76
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DOI: https://doi.org/10.1007/978-3-540-76631-5_76
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