Maintaining visibility of a moving target: Maximizing escape time vs. exposure time

Ibrahim Al-Bluwi, Ashraf Elnagar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a novel approach for the problem of tracking a moving target in a global dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.

Original languageEnglish (US)
Title of host publication11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages982-987
Number of pages6
DOIs
StatePublished - Dec 1 2010
Event11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 - Singapore, Singapore
Duration: Dec 7 2010Dec 10 2010

Publication series

Name11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010

Conference

Conference11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
CountrySingapore
CitySingapore
Period12/7/1012/10/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

Keywords

  • Dynamic environments
  • Motion planning
  • Target tracking

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  • Cite this

    Al-Bluwi, I., & Elnagar, A. (2010). Maintaining visibility of a moving target: Maximizing escape time vs. exposure time. In 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 (pp. 982-987). [5707262] (11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010). https://doi.org/10.1109/ICARCV.2010.5707262