Abstract
This work studies the interaction of the nonholonomic and visibility constraints of a robot that has to maintain visibility of a static landmark. The robot is a differential drive system and has a sensor with limited field of view. We determine the necessary and sufficient conditions for the existence of a path for our system to be able to maintain landmark visibility in the presence of obstacles. We present a complete motion planner that solves this problem based on a recursive subdivision of a path computed for a holonomic robot with the same visibility constraints.
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Hayet, JB., Esteves, C., Murrieta-Cid, R. (2009). A Motion Planner for Maintaining Landmark Visibility with a Differential Drive Robot. In: Chirikjian, G.S., Choset, H., Morales, M., Murphey, T. (eds) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00312-7_21
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DOI: https://doi.org/10.1007/978-3-642-00312-7_21
Publisher Name: Springer, Berlin, Heidelberg
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