Paper Info
Title
On time-optimal trajectories for differential drive vehicles with field-of-view constraints
Abstract
This paper presents the first step toward the study of minimum time trajectories for a differential drive robot, which is equipped with a fixed and limited Field-Of-View (FOV) camera, towards a desired configuration while keeping a given landmark in sight during maneuvers. While several previous works have provided a complete synthesis of shortest paths in case of both nonholonomic and FOV constraints, to the best of our knowledge, this paper represents the first analysis of minimum time trajectories with the two constraints. After showing the extremals of the problem at hand, i.e. straight lines, rotations on the spot, logarithmic spirals and involute of circles, we provide the optimal control laws that steer the vehicle along the path and the cost in terms of time along each extremal. Moreover, we compare some concatenations of extremals in order to reduce the complexity of the problem toward the definition of a sufficient finite set of optimal maneuvers.
Year
DOI
Venue
2014
10.1109/CDC.2014.7039723
Decision and Control
Keywords
Field
DocType
cameras,graph theory,mobile robots,optimal control,robot vision,set theory,trajectory control,FOV constraints,differential drive robot,differential drive vehicles,field-of-view constraints,fixed field-of-view camera,limited field-of-view camera,logarithmic spirals,nonholonomic constraints,optimal control laws,shortest paths,sufficient finite set,time trajectories,time-optimal trajectories
Differential (mechanical device),Mathematical optimization,Finite set,Optimal control,Control theory,Computer science,Logarithmic spiral,Involute,Nonholonomic system,Robot,Landmark
Conference
ISSN
Citations 
PageRank 
0743-1546
3
0.39
References 
Authors
10
4
Name
Order
Citations
PageRank
Andrea Cristofaro1133.96
Salaris, P.2101.50
Pallottino, L.340.76
Fabio Giannoni482.66