Controllability and properties of optimal paths for a differential drive robot with field-of-view constraints

2006 ◽  
Author(s):  
S. Bhattacharya ◽  
S. Hutchinson
Keyword(s):  
Field Of View ◽  
Differential Drive ◽  
Optimal Paths ◽  
Differential Drive Robot

Approximation of Capture Sets in Visibility-Based Target-Tracking Games for Non-Holonomic Players

2017 ◽  
Author(s):  
Rui Zou ◽  
Sourabh Bhattacharya
Keyword(s):  
Target Tracking ◽  
Computing Time ◽  
Line Of Sight ◽  
Differential Drive ◽  
Pursuit Evasion ◽  
Optimal Paths ◽  
Evasion Game ◽  
Time Optimal ◽  
Differential Drive Robot ◽  
Arbitrary Line

In this work, we analyze approximations of capture sets [1] for a visibility based pursuit-evasion game. In contrast to the capture problem, the pursuer tries to maintain a line-of-sight with the evader in free space in our problem. We extend the concept of U set initially proposed in [2] for holonomic players to the scenario in which the pursuer is holonomic. The problem of computing the U set is reduced to that of computing time-optimal paths for the non-holonomic vehicles to an arbitrary line. We characterize the primitives for time-optimal paths for the Dubin’s vehicle, Reed-shepps car and a Differential Drive robot. Based on these primitives, we construct the optimal paths and provide an algorithm to compute the U set.

Optimal Paths for Landmark-Based Navigation by Differential-Drive Vehicles With Field-of-View Constraints

2007 ◽  
Vol 23 (1) ◽  
pp. 47-59 ◽  
Author(s):  
Sourabh Bhattacharya ◽  
Rafael Murrieta-Cid ◽  
Seth Hutchinson
Keyword(s):  
Field Of View ◽  
Differential Drive ◽  
Optimal Paths

An Autonomously Guided Differential Drive Robot Base Using Asus® Xtion Pro Live

2020 ◽  
Author(s):  
S. I. A. P. Diddeniya ◽  
J. Liyanage ◽  
W. K. I. L. Wanniarachchi ◽  
C. Premachandra ◽  
H. N. Gunasinghe
Keyword(s):  
Differential Drive ◽  
Differential Drive Robot

Minimum Energy Control of a Unicycle Model Robot

2021 ◽  
Author(s):  
Youngjin Kim ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Minimum Energy ◽  
Kinematic Model ◽  
Elliptic Functions ◽  
Terminal Point ◽  
Jacobi Elliptic Functions ◽  
Differential Drive ◽  
Terminal Constraints ◽  
Differential Drive Robot ◽  
Point To Point

Abstract Point-to-point path planning for a kinematic model of a differential-drive wheeled mobile robot (WMR) with the goal of minimizing input energy is the focus of this work. An optimal control problem is formulated to determine the necessary conditions for optimality and the resulting two point boundary value problem is solved in closed form using Jacobi elliptic functions. The resulting nonlinear programming problem is solved for two variables and the results are compared to the traditional shooting method to illustrate that the Jacobi elliptic functions parameterize the exact profile of the optimal trajectory. A set of terminal constraints which lie on a circle in the first quadrant are used to generate a set of optimal solutions. It is noted that for maneuvers where the angle of the vector connecting the initial and terminal point is greater than a threshold, which is a function of the radius of the terminal constraint circle, the robot initially moves into the third quadrant before terminating in the first quadrant. The minimum energy solution is compared to two other optimal control formulations: (1) an extension of the Dubins vehicle model where the constant linear velocity of the robot is optimized for and (2) a simple turn and move solution, both of whose optimal paths lie entirely in the first quadrant. Experimental results are used to validate the optimal trajectories of the differential-drive robot.

Sign in / Sign up

Export Citation Format

Share Document