Maintaining Visibility of an Evading Target With the Use of an Autonomous Tracking Robot
This research examines a complete strategy for pursuing a moving evader through a series of obstacles. The geometry of the workspace is known in advance, but the target moves unpredictably throughout the environment. Unlike previous works, this approach does not use probabilistic methodologies to confront the problem. Instead, a motion strategy based on partitioning the workspace into non-critical regions separated by critical curves is utilized. This approach, known as cell decomposition for ladder motion planning, determines if it is possible to keep visibility of the target in a given environment prior to experimentation. For suitable environments, the basis for a tracking robot was designed. This included planning optimal movement for the observing robot while maintaining a fixed distance from the evading target.
School:
Xavier University of Louisiana
Department:
Computer Engineering
Research Advisor:
Seth Hutchinson
Department of Research Advisor:
Electrical and Computer Engineering
Year of Publication:
2003