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A Greedy Strategy for Tracking a Locally Predictable Target among Obstacles
 

Summary: A Greedy Strategy for Tracking a Locally Predictable
Target among Obstacles
Tirthankar Bandyopadhyay, Yuanping Li, Marcelo H. Ang Jr., and David Hsu
Department of Mechanical Engineering
National University of Singapore
Singapore, 119260, Singapore
Department of Computer Science
National University of Singapore
Singapore, 117543, Singapore
Abstract-- Target tracking among obstacles is an interesting
class of motion planning problems that combine the usual motion
constraints with robot sensors' visibility constraints. In this
paper, we introduce the notion of vantage time and use it to
formulate a risk function that evaluates the robot's advantage
in maintaining the visibility constraint against the target. Local
minimization of the risk function leads to a greedy tracking
strategy. We also use simple velocity prediction on the target to
further improve tracking performance. We compared our new
strategy with earlier work in extensive simulation experiments
and obtained much improved results.

  

Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore

 

Collections: Engineering