01196nas a2200181 4500008004100000245008000041210006900121260003700190300001600227520054900243653002100792653001300813100001900826700001500845700001800860700001500878856012100893 2009 eng d00aShortest Paths for Non-holonomic Vehicles with Limited Field of View Camera0 aShortest Paths for Nonholonomic Vehicles with Limited Field of V aShangai, ChinacDecember, 16 - 1 a8434 - 84393 a
This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a pinhole camera rigidly fixed with limited Field-Of-View (FOV). We preliminarily provide an alphabet of optimal control words and then we demonstrate how to obtain the partition induced by shortest path in the vehicle plane. The word univocally associated to a region encodes the shortest path from any starting point in that region to the goal point of the mobile robot without violating the FOV constraints.
10aEmbedded Control10aRobotics1 aPallottino, L.1 aSalaris, P1 aFontanelli, D1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/shortest-paths-non-holonomic-vehicles-limited-field-view-camera.html