A Motion Planner for Maintaining Landmark Visibility with a Differential Drive Robot
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چکیده
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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تاریخ انتشار 2008